scara-robotai-delta-electronics-用户操作说明书手册.pdf

DeltaSCARARobot

DROEInstructionManual

ASDA-MSSeries

TableofContents

1.Systemintroductionandsetup1

1.1Foreword1

1.2SoftwareEnvironmentRequirements2

1.3InstallationMethod2

2.LayoutofScreenView6

2.1Main(mainscreen)7

2.2Connect(connectionsetting)9

2.3Servo(servosetting)10

2.4TeachPendantStatus(TeachPendant)10

2.5OperatingStatus11

2.6Execution(executeproject)12

2.7Project(projectmanagement)13

2.8Points(pointinformation)19

2.9RL(robotlanguageediting)28

2.10Jog(jogsetting)30

2.11Home(homesetting)34

2.12UserI/O(IOmonitoring)34

2.13Info.(informationdisplay)35

2.14System(systemsetting)37

2.15Authority(authoritysetting)38

3.Alarm39

3.1Definitionsofalarms39

3.2Indexofalarm40

4.RobotLanguage61

4.1BasicInstructions61

4.2Operationsymbols65

4.3Operationcommands66

4.4BasicCommands67

i

4.5PointManagementCommands67

4.6MotionParameters71

4.7MotionControlCommands73

4.8CoordinateSystemCommands79

4.9ProcessControlCommands81

4.10IOOperationCommands84

4.11ProgramExecutingCommands86

4.12ApplicationFunctionCommands87

ii

Listoftables

TableVI‑1:SyntaxPrecautions64

TableVI‑2:OperationSymbols65

TableVI‑3:OperationCommands66

TableVI‑4:Pointvariableparameterform67

TableVI‑5:CopyPointparameterform68

TableVI‑6:ReadPointparameterform68

TableVI‑7:WritePointparameterform69

Listoffigures

Fig.1SystemScreen6