工业机器人编程高手教程

前 言
第1章 安川机器人概述..............................................................................1
1.1 本体 ..................................................................................................................................3
1.2 柜体 ..................................................................................................................................5
1.3 安川机器人的选型 ..........................................................................................................9
1.4 知识扩展与提升 ............................................................................................................12
第2章 安川机器人控制柜.........................................................................19
2.1 DX系列控制柜 .............................................................................................................21
2.2 DX100控制柜PCB详解 ..............................................................................................22
2.2.1 电源输入部件 ..........................................................................................................25
2.2.2 基本轴控制板 ..........................................................................................................26
2.2.3 CPU单元 .................................................................................................................26
2.2.4 CPS单元 ..................................................................................................................27
2.2.5 制动板 ......................................................................................................................29
2.2.6 I/O单元 ....................................................................................................................29
2.2.7 机械安全部件 ..........................................................................................................30
2.3 知识扩展与提升 ............................................................................................................31
第3章 安川机器人编程基础......................................................................34
3.1 安川机器人的INFORMⅢ语言...................................................................................35
3.2 安川机器人编程的基本知识储备 ................................................................................38
3.2.1 I/O板的认识 ............................................................................................................39
3.2.2 I/O板连接外部设备的注意事项 ............................................................................40
3.3 知识扩展与提升 ............................................................................................................42
第4章 编程流程图...................................................................................47
4.1 流程图 ............................................................................................................................47
4.2 编程流程示意图 ............................................................................................................48
4.2.1 大框架 ......................................................................................................................48
4.2.2 小框架 ......................................................................................................................50
4.2.3 汇总 ..........................................................................................................................52
4.2.4 论证 ..........................................................................................................................53
4.2.5 编制编程流程图 ......................................................................................................54
4.3 知识扩展与提升 ............................................................................................................57
第5章 安川机器人编程进阶......................................................................60
5.1 程序结构 .................