Brief introduction
This book brings together the technical terms of industrial robots in various fields of practical applications. In the form of illustration，it is illustrated in both Chinese and English. There were more than 300 drawings. Technical terms include standard specifications，installation，setup，operation，programming，commands，parameters，advanced functions，tracking control，additional axis control，maintenance，inspection and other aspects of industrial robots. This book also introduces the applications of industrial robots in welding，transportation，polishing，loading and unloading of machine tool，cutting，spraying，as well as the latest technological progress of industrial robots. This is a reference book of great practical value for engineers，designers，maintenance technicians，teachers and students in universities who are engaged in the field of automation and robotics.
Brief introduction
This book brings together the technical terms of industrial robots in various fields of practical applications. In the form of illustration，it is illustrated in both Chinese and English. There were more than 300 drawings. Technical terms include standard specifications，installation，setup，operation，programming，commands，parameters，advanced functions，tracking control，additional axis control，maintenance，inspection and other aspects of industrial robots. This book also introduces the applications of industrial robots in welding，transportation，polishing，loading and unloading of machine tool，cutting，spraying，as well as the latest technological progress of industrial robots. This is a reference book of great practical value for engineers，designers，maintenance technicians，teachers and students in universities who are engaged in the field of automation and robotics.
内容简介
本书汇集了工业机器人在实际应用各领域中的技术术语，以图解的形式，用中英文两种文字进行了说明，计图300余幅。技术术语包括工业机器人的技术规格、安装、设置、操作、编程、指令、参数设置、高级功能、跟踪控制、附加轴控制、维护保养等方面。本书还介绍了工业机器人在焊接、搬运码垛、打磨抛光、机床上下料、切割、喷涂等各方面的应用以及工业机器人*技术进展。
对从事自动化和机器人工作领域的工程师、设计人员和维保技师以及相关专业的高校师生来说，这是一本极具实用价值的参考工具书。
目錄：
Chapter 1Standard Specifications of the Robot 机器人的技术规格 001
1.1Robot arm机器人本体 001
1.2Rated load and operating range额定负载与动作范围 002
1.2.1Relationship between mass capacity and movement area for 4-axis robot4轴机器人负载质量与动作范围关系 002
1.2.2Relationship between mass capacity and movement area for 6-axis robot6轴机器人负载质量与动作范围关系 003
1.3Relationship between mass capacity and speed负载质量与速度的关系 004
1.4Relationship between height of shaft（J3 axis）and accelerationdeceleration speedJ3轴行程高度与加减速度的关系 005
1.5Outside dimensions外形尺寸 006
1.6Tooling工具（外围附件） 007
1.7Controller控制器 010
1.8Options选件 018
Chapter 2Installing the Robot机器人的安装 022
2.1Unpacking to installation开箱及安装 022
2.2Connecting the power cable and grounding cable连接电源电缆和接地电缆 023
2.3Attachments installation procedures附件安装 026
Chapter 3Setting the Robot机器人的设置 030
3.1Setting the origin原点设置 030
3.1.1Origin data input method数据输入方式 030
3.1.2Preparing the TB操作使用TB示教单元 031
3.2Resetting the origin原点重新设置 032
3.2.1Mechanical stopper method机械挡块方式 034
3.2.2Jig method校正棒方式 037
3.2.3ABS origin methodABS设置原点方式 039
3.3Changing the operating range调整运行范围 042
3.3.1The structure of mechanical stopper机械挡块的构成 042
3.3.2The installation of stopper block机械挡块的安装 042
3.3.3Installation of J1 axis operating range change optionJ1轴行程挡块的安装 043
Chapter 4How to Operate Robot机器人的操作 045
4.1Operation panel（OP）functions操作面板的使用 045
4.2Installation of teaching pendant示教单元的安装 047
4.3Explanation of operation methods操作方式说明 048
4.3.1JOINT jog关节型点动 049
4.3.2XYZ jog直交型点动 053
4.3.3TOOL jog以工具坐标系为基准点动 057
4.3.43-axis XYZ jog三轴型点动 060
4.3.5CYLINDER jog圆柱型点动 063
4.3.6WORK jog在工件坐标系中的点动 067
4.4Aligning the hand机械手整列操作 073
Chapter 5Programming机器人编程 075
5.1Creation procedures编制程序的流程 075
5.2Creating the program新建程序 076
Chapter 6Commands of the Robot机器人编程指令 080
6.1Coordinate system description of the robot机器人使用的坐标系种类 080
6.2Mechanical interface coordinate system机械接口坐标系 083
6.3Tool coordinate system工具坐标系 084
6.3.1Definition定义 084
6.3.2Effects of using tool coordinate system使用工具坐标系的效果 085
6.4Robot operation control机器人动作指令 086
6.4.1Interpolation movement插补指令 086
6.4.2Cnt（Continuous）连续轨迹运行 089
6.4.3Pallet operation码垛指令 091
6.5Robot operation control机器人运行控制 094
6.6Detailed explanation of command words指令详细解释 106
Chapter 7Functions Set with Parameters参数设置 111
7.1Standard tool coordinate标准工具坐标系 111
7.2Standard base coordinate标准基本坐标系 114
7.3Free plane limit自由平面限制 118
7.4Automatic return setting after jog feed at pause点动暂停后返回轨迹设置 119
7.5Warm-up operation mode暖机运行模式 120
7.6High-speed RAM operation image高速RAM运行图 121
7.7Collision detection function碰撞检测 122
7.8Simulation and robot calibration operation模拟及机器人校准运行 123
Chapter 8Advanced Functions高级功能 124
8.1Configuration flag结构标志 124
8.1.1Configuration flag of 6-axis robot6轴机器人的结构标志 124
8.1.2Configuration flag for horizontal multi-joint robot水平多关节型机器人的结构标志 126
8.2Spline interpolation样条曲线插补 126
8.3Ex-T control以外部原点为基准的控制 130
8.3.1Outline概述 130
8.3.2Ex-T coordinate settingEx-T坐标系设置 131
8.3.3Operation操作 133
8.4Cooperative operation function联合操作功能 141
Chapter 9Tracking Control跟踪控制 147
9.1Tracking systems跟踪系统 147
9.1.1Configuration example of conveyor tracking systems传输线跟踪系统 147
9.1.2Configuration example of vision tracking systems视觉跟踪系统 148
9.1.3Measures against the noise抗电磁干扰 149
9.1.4Calibration operation for conveyor and robot传送带和机器人的校准操作 150
9.1.5Tracking check function跟踪核查功能 150
9.2Circular arc tracking圆弧跟踪 150
Chapter 10Additional Axis附加轴 153
10.1Outline概述 153
10.2Additional axis function附加轴功能 161
Chapter 11Maintenance and Inspection维护和保养 162
11.1Robot arm structure机器人构造 162
11.1.1Structure for horizontal multi-joint type robot水平型机器人的构造 162
11.1.2Structure for 6-axis robot6轴机器人的构造 163
11.2Installingremoving the cover盖板安装与拆卸 164
11.3Inspection，maintenance and replacement of timing belt同步带检查保养及张紧度调整 166
11.3.1Inspection and maintenance of timing belt for horizontal multi-joint type robot水平型机器人同步带的检测和维护 166
11.3.2Inspection and maintenance of timing belt for 6-axis robot6轴机器人同步带保养维护 167
11.3.3Tension adjustment of timing belt同步带的张紧调整 169
11.4Lubrication润滑 170
11.5Replacing the battery更换电池 172
11.6The check of the filter，cleaning，exchange过滤窗的检查、清洗及更换 173
11.7Overhaul大修 175
Chapter 12The Application of Robots in Welding Industries机器人在焊接行业中的应用 176
12.1Composition and structure组成结构 177
12.2Feature特点 178
12.3Structure design结构设计 179
12.4Equipment装备 180
12.5Welding application焊接应用 180
12.5.1Workstation工作站 180
12.5.2Box welding robot workstation箱体焊接机器人工作站 181
12.5.3Robot flexible laser welding machine机器人柔性激光焊接机 183
12.5.4Shaft welding robot workstation轴类焊接机器人工作站 184
12.5.5Robot welding stud workstation机器人焊接螺柱工作站 184
12.6Welding robot production line焊接机器人生产线 185
12.7Application of welding robot in automobile production焊接机器人在汽车生产中的应用 187
12.8Characteristics of arc welding弧焊特点 188
12.8.1Basic function基本功能 188
12.8.2Welding equipment焊接设备 189
12.8.3Maintaining维护保养 190
Chapter 13The Application of Robots in Other Industries机器人在其他行业中的应用 191
13.1Application of robot in transportation industry机器人在搬运码垛行业中的应用 191
13.2Application of robot in polishing industry机器人在打磨抛光行业中的应用 194
13.3Application of robot in machine tool industry机器人在机床加工行业中的应用 197
13.3.1Overview概述 197
13.3.2Loading and unloading robot features上下料机器人的特点 198
13.3.3Robot classification机器人分类 199
13.3.4Working example工作样例 202
13.4Application of robot in cutting industry机器人在切割行业中的应用 209
13.5Application of robot in spraying industry机器人在喷涂行业中的应用 210
Chapter 14Robot Force Sensing Control机器人的力觉控制 214
14.1What is the force sensing control function？什么是力觉控制功能？ 214
14.2Terms术语 215
14.3System composition系统构成 215
14.4Force sense coordinate system力觉坐标系 217
14.4.1The definition of the force sense coordinate system力觉坐标系的定义 217
14.4.2Force sensor coordinate system力觉传感器坐标系 219
14.5Program程序 221
14.5.1Mode switching模式切换 221
14.5.2Sample program 1样例程序１ 221
14.5.3Sample program 2样例程序２ 224
14.5.4Sample program 3样例程序３ 225
14.5.5Sample program 4样例程序４ 228
14.6Stiffness controlling刚度控制 229
14.6.1Stiffness controlling principle刚度控制原理 229
14.6.2Change control characteristics 1改变控制特性1 231
14.6.3Change control characteristics 2改变控制特性2 231
14.7Assembly装配 234
14.7.1Case 1案例1 234
14.7.2Case 2案例2 235
14.7.3Case 3：data latching and reading案例3：数据锁存及读取 237
14.7.4Data transfer case数据传送案例 238
14.7.5Position alignment push in位置对准推入 238
References参考文献 241
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