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ABB机器人力控使用说明书 英文版
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本手册主要内容:1、力控方式 2、力控基本控制和装配 3、力控使用方法 4、力控进行变速 5、abb力控相关指令详细解释 本书为全英文版本,abb在力控方面的手册并不是很多,这本说明手册能为相关调试人员提供丰富的关于力控相关知识。
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Application manual
Force Control
Trace back information:
Workspace Main version a117
Checked in 2015-08-31
Skribenta version 4.6.081
Application manual
Force Control
RobotWare 6.02
Document ID: 3HAC050377-001
Revision: A
© Copyright 2007-2015 ABB. All rights reserved.
The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to
persons or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Additional copies of this manual may be obtained from ABB.
The original language for this publication is English. Any other languages that are
supplied have been translated from English.
© Copyright 2007-2015 ABB. All rights reserved.
ABB AB
Robotics Products
Se-721 68 Västerås
Sweden
Table of contents
11Overview of this manual ...................................................................................................................
131 Introduction
131.1 About Force Control base ...................................................................................
151.2 About FC basic control and assembly ...................................................................
161.3 About FC Pressure ............................................................................................
171.4 About FC SpeedChange .....................................................................................
192 Installation
192.1 Getting Started .................................................................................................
253 Navigate and handle the graphical user interface
253.1 FlexPendant interface ........................................................................................
253.1.1 RobotWare Machining FC main menu .........................................................
273.1.2 Version and compatibility ..........................................................................
283.2 Workflow for handling the graphical user interface ..................................................
283.2.1 FC Setup ...............................................................................................
313.2.2 Loading a project ....................................................................................
333.2.3 Creating a project ....................................................................................
373.2.4 Modifying a project with the program wizard .................................................
383.2.5 Executing ..............................................................................................
403.3 Paths ..............................................................................................................
403.3.1 Creating ................................................................................................
423.3.2 Teaching ...............................................................................................
523.3.3 Learning ................................................................................................
563.3.4 Exporting ...............................................................................................
593.3.5 Testing ..................................................................................................
613.4 Hints for handling the graphical user interface ........................................................
613.4.1 Summary - differences between speed change process and pressure process ....
623.4.2 Improving pressure process quality ............................................................
633.4.3 Damping ................................................................................................
653.4.4 Programming with additional axis ...............................................................
663.4.5 Programming in multitask system ...............................................................
683.4.6 Programming in MultiMove system .............................................................
703.4.7 Working with RobotStudio Machining PowerPac ...........................................
734 Configuration
734.1 System parameters overview ...............................................................................
784.2 Configuration example .......................................................................................
814.3 Configuring a MultiMove system ..........................................................................
835 Programming
835.1 RAPID Components ...........................................................................................
835.1.1 Force controlled pressure applications ........................................................
855.1.2 Force controlled speed change applications .................................................
895.1.3 Force controlled assembly applications .......................................................
945.2 Code examples .................................................................................................
945.2.1 Force controlled pressure applications ........................................................
955.2.2 Force controlled speed change applications .................................................
985.2.3 Force controlled assembly applications .......................................................
1016 Execution behavior
1016.1 Conflicting reference values ................................................................................
1036.2 Damping and LP-filter ........................................................................................
1056.3 Overcome friction ..............................................................................................
Application manual - Force Control 5
3HAC050377-001 Revision: A
© Copyright 2007-2015 ABB. All rights reserved.
Table of contents
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- 清扬游侠2022-09-29英文版的,看不懂。博主下载之前没说明是英文版,真不负责!
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