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以前在**光電的時(shí)候接觸過(guò)三協(xié)的機(jī)器人,說(shuō)實(shí)話以前沒(méi)有去仔細(xì)研究過(guò)如何控制器人,所以當(dāng)時(shí)也沒(méi)有整理出太多的資料.
最近比較仔細(xì)地看了下Rubbing機(jī)的程序,對(duì)三協(xié)的機(jī)器人控制有了些了解.
機(jī)器人的型號(hào)是:SR8142-0380,控制器是:SC3400 STD.
這種機(jī)器人是通過(guò)CC-LINK模塊(AB4301)與三菱Q系列PLC(Q06H)來(lái)通信的.這個(gè)CC-LINK模塊擁有了256個(gè)I/O信號(hào)點(diǎn)位.
X,Y信號(hào)各占據(jù)了128個(gè).(在GX-DEVELOPER中設(shè)置CC-LINK參數(shù),Remote(X) Start: X800,Remote(Y) Start: Y800,
現(xiàn)在把每個(gè)X,Y信號(hào)的功能和作用說(shuō)明:
（X信號(hào)是機(jī)器人給PLC的信號(hào),是反應(yīng)機(jī)器人的狀態(tài)的.）
X800    Robot->Command1
X801    Robot->Command2
X802    Robot->Command4
X803    Robot->Command8
X804    Robot->Command16
X805    Robot->Command32
X806    Robot->Stage Type1
X807    Robot->Stage Type2
X808    Robot->Position Code Specification1
X809    Robot->Position Code Specification2
X80A    Robot->Position Code Specification4
X80B    Robot->Position Code Specification8
X80C    Robot->Position Code Specification16
X80D    Robot->Address1
X80E    Robot->Address2
X80F    Robot->Address4
X810    Robot->Address8
X811    Robot->Address16
X812    Robot->Address32
X813    Robot->Address64
X814    Robot->Work type1
X815    Robot->Work type2
X816    Robot->Work type4
X817    Robot->Work type8
X818    Robot->Work type16
X819    Robot->Work type32
X81A    Robot->Hand Up&Down1
X81B    Robot->Hand Up&Down2
X81C    Robot Command Same Request
X81D    Robot Same Time Catch&Put Command Put Completion
X81E    Robot Acting
X81F    Robot Action End
X820    Robot Servo Power On
X821    Robot Task Allowable
X822    Robot Task Starting
X823    Robot Task Hold Stopping
X824    Robot Controller Local/Teaching
X825    Robot Software Origin Position
X826    Robot Arm Equipment Interfere(Outer)
X827    Robot System Task Acting
X828    Robot Cassette No Specify glass
X829    Robot Error Code Strobo?
X82A    Robot Error Code1
X82B    Robot Error Code2
X82C    Robot Error Code4
X82D    Robot Error Code8
X82E    Robot Error Code16
X82F    Robot Error Code32
X830    Robot Upper Hand Vacuum On Request
X831    Robot Upper Hand Vacuum Off Request
X832    Robot Lower Hand Vacuum On Request
X833    Robot Lower Hand Vacuum Off Request
X834    Reserve Point
X835    Reserve Point
X836    Reserve Point
X837    Robot Command Reading Signal
X838    Reserve Point
X839    Robot Position Record
X83A    Robot Speed Override1(Acting)
X83B    Robot Speed Override2(Acting)
X83C    Robot Hand Backing
X83D    Robot Second Command code Request
X83E    Robot Second Command code Same Request
X83F    Robot Hand Position Inserting Status
（Y信號(hào)是PLC給機(jī)器人的指令,要求機(jī)器人執(zhí)行什么動(dòng)作.）
Y880    Robot Action Start
Y881    Robot<-Command1
Y882    Robot-Command2
Y883    Robot<-Command4
Y884    Robot<-Command8
Y885    Robot<-Command16
Y886    Robot<-Command32
Y887    Robot<-Stage Type1
Y888    Robot<-Stage Type2
Y889    Robot<-Position Code Specification1
Y88A    Robot<-Position Code Specification2
Y88B    Robot<-Position Code Specification4
Y88C    Robot<-Position Code Specification8
Y88D    Robot<-Position Code Specification16
Y88E    Robot<-Address1
Y88F    Robot<-Address2
Y890    Robot<-Address4
Y891    Robot<-Address8
Y892    Robot<-Address16
Y893    Robot<-Address32
Y894    Robot<-Address64
Y895    Robot<-Work type1
Y896    Robot<-Work type2
Y897    Robot<-Work type4
Y898    Robot<-Work type8
Y899    Robot<-Work type16
Y89A    Robot<-Work type32
Y89B    Robot<-Hand Up&Down1
Y89C    Robot<-Hand Up&Down2
Y89D    Robot Command Same Request
Y89E    Robot Same Time Catch&Put Command Put Completion
Y89F    Robot ACTION EXECUTION END
Y8A0    Error Reset
Y8A1    Robot Task Initial Start
Y8A2    Robot Task Cycle Stop
Y8A3    Robot Task Hold Stop
Y8A4    Robot Task Hold Cancle
Y8A5    Robot Software Origin Start
Y8A6    Robot Servo Power Off
Y8A7    Reserve Point
Y8A8    Reserve Point
Y8A9    Reserve Point
Y8AA    Reserve Point
Y8AB    Reserve Point
Y8AC    Robot Second Action Start
Y8AD    Robot Glass Check NG
Y8AE    Robot Cassette Glass Check Effective
Y8AF    Robot Abnormal Code Ack
Y8B0    Robot Upper Hand Glass Exist
Y8B1    Robot Upper Hand Glass Shift Confirm
Y8B2    Reserve Point
Y8B3    Robot Upper Hand Vacuum On Confirm
Y8B4    Robot Lower Hand Glass Exist
Y8B5    Robot Upper Hand Glass Shift Confirm
Y8B6    Reserve Point
Y8B7    Robot Upper Hand Vacuum On Confirm
Y8B8    Reserve Point
Y8B9    Position End Action Permit
Y8BA    Robot Speed Override1
Y8BB    Robot Speed Override2
Y8BC    Command Cancel Flag
Y8BD    Reserve Point
Y8BE    Robot Second Command code Flag
Y8BF    Reserve Point

由于我手中沒(méi)有機(jī)器人控制器的說(shuō)明說(shuō),所以每個(gè)點(diǎn)位的作用我不是非常清楚.
不過(guò)從上面的Y信號(hào)可以看出該機(jī)器人可以進(jìn)行128個(gè)位置定位(Y88E~Y894).
128個(gè)定位位置通過(guò)Y88E~Y894的信號(hào)ON，OFF的組合來(lái)指定.
以上是我個(gè)人的總結(jié),可能有不對(duì)的地方,如果高手看了覺(jué)得我的資料是貽笑大方的話,還請(qǐng)多多包涵.謝謝了.