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LNC Robot Series User Manual
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Joint
Robot
Manipulator
-
Softw
ar
e
Opera
tion
Manual
Advantech L
NC T
echnology
Co., Ltd.
40
5.
Switch to automatic mode again.
6.
Click
to change it to
.
7.
Press Start to continue the unfinished run test.
10.3.5.
Operation observation of "
Repeat"
1.
Click
to change it to
.
2.
Close the handwheel.
3.
Start the program, observe the ef
fect of rep
eated running, and continuously adjust and
optimize to the best.
39
41
Table of Contents
Table of Contents
2
Content
2
Instructions of Handheld Box and Screen Configuration
6
Shape of Handheld Box
6
Instructions for Screen Configuration
7
Title Bar
8
Right Quick-Operating Area
9
Left Function Menu
10
Common
11
Startup
11
Permissions
12
Coordinates
13
Coordinate System and Settings
13
Current Coordinates Display
14
Operation for Motions
15
Alarm Warning Page
17
Introduction to Basic Concepts
18
Introduction to Space Coordinates (Position and Attitude)
18
Various Coordinates and Their Relevance
20
Fast Moving
21
Path Motions
21
Maintenance and Teaching Mode
24
Button Names
24
Mode Description
24
Differences between Handwheel and Non-Handwheel Modes
25
Coordinate System Selection During Motions
26
Direction Rotation in Teaching Mode
27
Tools
28
Point Record
30
Security Point
31
Coordinate System
32
Introduction to Operation Interface of Program Page
34
Teaching Mode
34
Block Operation
34
Recording
35
Basic Instructions
36
Extended Instruction
36
Editing Columns
36
Automatic Mode
37
Process of Editing and Running the Program
38
Creating or Opening a File
38
Record" Continuous Track and IO Motion
38
Step", "Forward", "Back" Function Confirmation and Correction Track
39
Handwheel Run Test
39
Operation Observation of "Repeat
40
Introduction to Program
41
Basic Instructions
41
Process Control
41
Waiting Type
43
Status Setting
44
Motion Command
45
Function Module Calling
48
Extended Instructions
50
Use Coordinate System to Simplify Programming and Maintenance
60
Setting XYZABC Directly
60
World Record XYZ
60
World Record XYZABC
60
Coordinate System Record
61
Current Position and Attitude
61
Dynamic Position and Attitude
61
Joint Record
62
Setting the Joint Coordinates Directly
62
Re-Offset Direct Setting
62
Re-Offset Dynamic Setting
62
List
63
Put the Program into the List
63
Select to Execute
64
Appoint to Execute
64
Composition of Program Modularization
66
Calling Program Files
66
Calling O Files
67
Calling G Files
69
NC Editing
71
Types of Files
71
Viewing and Editing Methods
72
NC Execution
73
Runnable Files
74
Viewing Mode
74
Description of Use of System G Code
76
Fast Moving (G0, G1T2), Direct Moveing (G1T4)
76
Path Movement (G1, G1T5)
77
Linear (S0)
78
Arc Transition (S1)
78
Arc Midpoint (S2)
79
Arc Center (S3)
79
Arc End Point (S4)
79
Clockwise Arc and Counterclockwise Arc (G2, G3)
79
Wait (G4)
80
Switch Tool Parameters (G5)
80
Switch Coordinate Inversion Mode (G6)
81
Set the Path Process (G7)
81
Wait for Arrival of Interrupt Counting (G8)
82
Wait Correct Arrival (G9)
82
Joint Record Movement (G10)
82
World Record Movement (G11)
82
Set Whether the Command of the Axis Output (G13)
83
Get the World Coordinates (G17, G1T17) of the Final Position
83
Get the Work Coordinate(G18, G1T18) of the Final Position
83
Get the Joint Coordinates (G19, G1T19) of the Final Position
84
Wait for Point I(G20)
84
Wait for R Value (G21)
84
Set O(G22)
85
Set R(G23)
86
Sensing Point I Stop (Rbit Comparison) (G31)
86
Sensing Torque Stop (R Value Comparison) (G32)
87
Coordinate System Re-Offset (G52)
88
Set the Work Coordinate System (G54)
89
The Offset of Position and Attitude Specified Directly by O0 (Preset)
89
O1 Uses Position XYZ in the World Record
89
O2 Uses Position and Attitude XYZABC in World Records
89
O3 Uses Coordinate System Records
89
O4 Uses the Current Position and Attitude
89
O5 Uses Dynamic Position
89
O6 Uses Joint Records
89
O7 Directly Set Joint Coordinates
90
O8 Directly Set Re-Offset
90
O9 Re-Offset Dynamic Setting
90
Rotating the Coordinate System (G55)
90
Coordinated Coordinate System (G56)
90
Bulk Separating Axis Coordinate System (G57)
90
Start Dynamic Compensation (G61)
91
Turn off Dynamic Compensation (G60)
91
Interpolation Table Conversion (G69)
91
Set the Flexibility Level (G89)
91
Set the Synthetic Acceleration/Deceleration Time (G90)
92
Set the Shaft Speed Smoothing Time (G91)
92
Set the Shaft Speed Tolerance (G92)
92
Serve Lag Eliminates and Updates Coordinates (G95)
92
Update Coordinates (G96)
92
Macro Syntax
93
Variables
93
Regional Variables
93
Global Variables
93
Core Resource IOCSAR Access
93
Mathematical Fnctions
94
Program Flow Control
95
4
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LNC Robot Series Specifications
General
Brand
LNC
Model
Robot Series
Category
Controller
Language
English
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