LNC Robot Series Guía de solución de problemas
Joint Manipulator - Software Operation Manual
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Advantech LNC Technology Co., Ltd. 1
Robot Series
Joint Robot - Basic Operation and Program Manual
Leading Numerical Controller
2018/12 Ver：V09.00
Joint Robot Manipulator - Software Operation Manual
Advantech LNC Technology Co., Ltd. 2
1. Content
1. Content ..................................................................................................................................... 2
2. Instructions of handheld box and screen configuration ........................................................... 6
2.1. Shape of handheld box ............................................................................................ 6
2.2. Instructions for screen configuration ....................................................................... 7
2.3. Title Bar ................................................................................................................... 8
2.4. Right quick-operating area ...................................................................................... 9
2.5. Left function menu ................................................................................................ 10
3. Common pages ...................................................................................................................... 11
3.1. Startup .................................................................................................................... 11
3.2. Permissions ............................................................................................................ 12
3.3. Coordinates ............................................................................................................ 13
3.3.1. Coordinate system and settings ..................................................................... 13
3.3.2. Current coordinates display ........................................................................... 14
3.3.3. Operation for motions .................................................................................... 15
3.4. IO ........................................................................................................................... 15
3.5. Alarm warning page .............................................................................................. 17
4. Introduction to basic concepts ............................................................................................... 18
4.1. Introduction to space coordinates (position and attitude) ...................................... 18
4.2. Various coordinates and their relevance ................................................................ 20
4.3. Fast moving ........................................................................................................... 21
4.4. Path motions .......................................................................................................... 21
5. Maintenance and teaching mode ........................................................................................... 24
5.1. Button names ......................................................................................................... 24
5.2. Mode description ................................................................................................... 24
5.3. Differences between handwheel and non-handwheel modes ................................ 25
5.4. Coordinate system selection during motions ......................................................... 26
5.5. Direction rotation in teaching mode ...................................................................... 27
6. Tools ...................................................................................................................................... 28
7. Point record ............................................................................................................................ 30
8. Security point ......................................................................................................................... 31
9. Coordinate system ................................................................................................................. 32
10. Introduction to operation interface of program page ............................................................. 34
10.1. Teaching mode ....................................................................................................... 34
10.1.1. Block operation .............................................................................................. 34
10.1.2. Recording ....................................................................................................... 35
10.1.3. Basic instructions ........................................................................................... 36
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10.1.4. Extended instruction ...................................................................................... 36
10.1.5. Editing columns ............................................................................................. 36
10.2. Automatic mode .................................................................................................. 37
10.3. Process of editing and running the program .......................................................... 38
10.3.1. Creating or opening a file .............................................................................. 38
10.3.2. "Record" continuous track and IO motion ..................................................... 38
10.3.3. "Step", "Forward", "Back" function confirmation and correction track ........ 39
10.3.4. Handwheel run test ........................................................................................ 39
10.3.5. Operation observation of "Repeat" ................................................................ 40
11. Introduction to program page instructions ............................................................................. 41
11.1. Basic instructions ................................................................................................... 41
11.1.1. Process Control .............................................................................................. 41
11.1.2. Waiting type ................................................................................................... 43
11.1.3. Status setting .................................................................................................. 44
11.1.4. Motion command ........................................................................................... 45
11.1.5. Function module calling ................................................................................ 48
11.2. Extended instructions ............................................................................................ 50
12. Use coordinate system to simplify programming and maintenance ...................................... 60
12.1. Setting XYZABC directly ..................................................................................... 60
12.2. World Record XYZ ................................................................................................ 60
12.3. World record XYZABC ......................................................................................... 60
12.4. Coordinate system record ...................................................................................... 61
12.5. Current position and attitude ................................................................................. 61
12.6. Dynamic position and attitude ............................................................................... 61
12.7. Joint record ............................................................................................................ 62
12.8. Setting the joint coordinates directly ..................................................................... 62
12.9. Re-offset direct setting ........................................................................................... 62
12.10. Re-offset dynamic setting ...................................................................................... 62
13. List ......................................................................................................................................... 63
13.1. Put the program into the list .................................................................................. 63
13.2. Select to execute .................................................................................................... 64
13.3. Appoint to execute ................................................................................................. 64
14. Composition of Program Modularization .............................................................................. 66
14.1. Calling program files ............................................................................................. 66
14.2. Calling O files ........................................................................................................ 67
14.3. Calling G files ........................................................................................................ 69
15. NC Editing ............................................................................................................................. 71
15.1. Types of files.......................................................................................................... 71
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15.2. Viewing and editing methods ................................................................................ 72
16. NC execution ......................................................................................................................... 73
16.1. Runnable files ........................................................................................................ 74
16.2. Viewing mode ........................................................................................................ 74
17. Description of use of system G code ..................................................................................... 76
17.1. Fast moving (G0, G1T2), direct moveing (G1T4) ................................................ 76
17.2. Path movement (G1, G1T5) .................................................................................. 77
17.2.1. Linear (S0) ..................................................................................................... 78
17.2.2. Arc Transition (S1) ........................................................................................ 78
17.2.3. Arc midpoint (S2) .......................................................................................... 79
17.2.4. Arc Center (S3) .............................................................................................. 79
17.2.5. Arc End Point (S4) ........................................................................................ 79
17.3. Clockwise arc and counterclockwise arc (G2, G3) ............................................... 79
17.4. Wait (G4) ............................................................................................................... 80
17.5. Switch tool parameters (G5) .................................................................................. 80
17.6. Switch coordinate inversion mode (G6) ................................................................ 81
17.7. Set the path process (G7) ....................................................................................... 81
17.8. Wait for arrival of interrupt counting (G8) ............................................................ 82
17.9. Wait correct arrival (G9) ........................................................................................ 82
17.10. Joint Record Movement (G10) .............................................................................. 82
17.11. World record movement (G11) .............................................................................. 82
17.12. Set whether the command of the axis output (G13) .............................................. 83
17.13. Get the world coordinates (G17, G1T17) of the final position ............................. 83
17.14. Get the work coordinate(G18, G1T18) of the final position ................................. 83
17.15. Get the joint coordinates (G19, G1T19) of the final position ............................... 84
17.16. Wait for Point I(G20) ............................................................................................. 84
17.17. Wait for R value (G21) .......................................................................................... 84
17.18. Set O(G22) ............................................................................................................. 85
17.19. Set R(G23) ............................................................................................................. 86
17.20. Sensing point I stop (Rbit comparison) (G31) ....................................................... 86
17.21. Sensing torque stop (R value comparison) (G32) ................................................. 87
17.22. Coordinate system re-offset (G52) ........................................................................ 88
17.23. Set the work coordinate system (G54) .................................................................. 89
17.23.1. The offset of position and attitude specified directly by O0 (preset) ............ 89
17.23.2. O1 uses position XYZ in the world record .................................................... 89
17.23.3. O2 uses position and attitude XYZABC in world records ............................ 89
17.23.4. O3 uses coordinate system records ................................................................ 89
17.23.5. O4 uses the current position and attitude ....................................................... 89
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17.23.6. O5 uses dynamic position .............................................................................. 89
17.23.7. O6 uses joint records ..................................................................................... 89
17.23.8. O7 directly set joint coordinates .................................................................... 90
17.23.9. O8 directly set re-offset ................................................................................. 90
17.23.10. O9 re-offset dynamic setting ................................................................. 90
17.24. Rotating the coordinate system (G55) ................................................................... 90
17.25. Coordinated coordinate system (G56) ................................................................... 90
17.26. Bulk separating axis coordinate system (G57) ...................................................... 90
17.27. Start dynamic compensation (G61) ....................................................................... 91
17.28. Turn off dynamic compensation (G60) ................................................................. 91
17.29. Interpolation table conversion (G69) ..................................................................... 91
17.30. Set the flexibility level (G89) ................................................................................ 91
17.31. Set the synthetic acceleration/deceleration time (G90) ......................................... 92
17.32. Set the shaft speed smoothing time (G91) ............................................................. 92
17.33. Set the shaft speed tolerance (G92) ....................................................................... 92
17.34. Serve lag eliminates and updates coordinates (G95) ............................................. 92
17.35. Update coordinates (G96) ...................................................................................... 92
18. Macro syntax ......................................................................................................................... 93
18.1. Variables ................................................................................................................ 93
18.1.1. Regional variables: ........................................................................................ 93
18.1.2. Global Variables: ........................................................................................... 93
18.2. Core resource IOCSAR access .............................................................................. 93
18.3. Mathematical fnctions ........................................................................................... 94
18.4. Program flow control ............................................................................................. 95
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2. Instructions of handheld box and screen configuration
2.1. Shape of handheld box
User-defined button functions
Screen lock function, refer to the description of following sections
The light signal shows the current alarm and the button reset
system (equivalent to the reset button on the screen)
Other buttons Refer to the description of following sections
Handwheel Emergency USB interface
Rate
percentage
adjustment
Start
Pause
Stop
Custom
button
F1F2
Screen lock
Operating
mode
switch
Manual operating coordinate system selection,
handwheel operation switching rate multiplier
(x1, x10, x100), axial key (J1~J9)
System reset button
Screen
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2.2. Instructions for screen configuration
Title Bar
Page Display Area
Left Function Menu Area Right Quick-operating Area
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2.3. Title Bar
Display the system version number, the current login level,
click on this area to enter the permissions page.
This area will display the coordinate values in this
coordinate system according to the system mode
(maintenance, automatic, teaching), and the selected
coordinate system (world, work, tools, joints).
Screen lock function: Clicking three times in this area
continuously allows the system to enter the screen lock
state. It needs to enter the correct password to operate. If
you click Cancel, it will display a small square of "Forbid"
in the upper right corner. Click it and the password
window will pop up again.
Click on the upper half to switch
the start status of servo.
Displays the rate percentage of the system operating speed
in the current system state and automatic mode.
Not ready：It will stay in this state until the coordinates of
any of the motors are not confirmed. In this state, the
automatic mode cannot be used, and the teaching mode
operation can only be the joint coordinates.
Ready：When the coordinates of each motor have been
confirmed, it will become ready to complete. After the
being ready, there is a way to enter the "automatic mode",
because the kinematics calculation path of the robot is
meaningful after the coordinates of the axes of the system
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are correct.
Operating：The automatic program is running.
Pause, section stop: The system is running but enters the
pause state for any reason.
Teaching: Performing teaching.
Enter the link between the coordinate page and the IO
page.
Prompt whether the system currently has an alarm
warning. Click on the alarm warning area to display the
current content of alarm warning. Click "Reset" to clear
the current alarm warning if the establishment condition
for the alarm warning has disappeared.
Press this button to switch the A870 to put the system into
an emergency stop state.
The system's emergency stop can be triggered by multiple
sources: handheld box, upper software, electric cabinet,
external signal...
2.4. Right quick-operating area
Handwheel mode: switch whether to operate with the handwheel
Automatic mode: adjust the percentage of speed during
automatic operation
Maintenance and teaching mode: adjust the speed percentage
during manual operation
Make the program running in automatic mode enter the pause
state.
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These three buttons switch system modes:
Maintenance mode: Perform operation control of a single motor.
Usually used for the time of debugging.
Auto: Used to launch a program or to operate a specific action
on each page.
Teaching: Move with the coordinate system direction such as
"world", "work", "tool" and "joint" as a reference.
2.5. Left function menu
The buttons displayed on the left are arranged as standard version of the function
items, which can edit the page and add the linked function buttons according to
the application requirements.
Each button is linked to the corresponding function page, and the description of
each page is described in the following sections.
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