机器人喷标机项目

Robot spray labeling machine project

技术文件
Technical documents

机器人操作
Robot operation
杭州浙达精益机电技术股份有限公司
Hangzhou Zheda Jingyi Electromechanical
Technology Co., Ltd
机器人操作说明

Robot operation instructions

ABB 机器人共分为三种工作模式：自动、手动、手动全速。三种模式介绍如下：
ABB robots are divided into three working modes: automatic, manual,
and manual full speed. The three modes are introduced as follows:
● 自动模式：在此模式下，机器人在没有人工干预的情况下进行运行移动。通
常，生产过程中的机器人系统都是运行在此模式下。
● Automatic mode: In this mode, the robot operates and moves without
human intervention. Usually, the robot system in the
production process runs in this mode.
● 手动模式：此模式下，机器人只能在安全速度下运行，且只能手动控制。通
常用于机器人点动操作和机器人程序调试。
● Manual mode: In this mode, the robot can only operate at a safe
speed and can only be manually controlled. Usually used
for robot jog operations and robot program debugging.
● 手动全速模式：机器人能够以预定速度运动，但是只能手动控制，主要用于
测试运行程序。
Manual full speed mode: The robot can move at a predetermined speed,
but can only be manually controlled, mainly used for testing and
running programs.
● 自动模式上电步骤
● Power on steps in automatic mode
步骤 操作 图示
step operation Illustration
1 将模式开关置于自动位置
Place the mode switch in the
automatic position
2 确保电控柜中的机器人空开处于开
状态
Ensure that the robot air
switch in the electric control
cabinet is in an open state
3 将主电源开关置于开，打开主电源
Place the main power switch on
and turn on the main power
4 示教器弹出对话框：是否选择自动
模式？
Teaching pendant pop-up dialog
box: Do you want to select
automatic mode?
点击“确定”
Click 'OK'
5 在控制器上，按下“电机开”按钮
On the controller, press the
"Motor On" button
● 手动模式下上电步骤
● Power on steps in manual mode
步骤 操作 图示
step operation Illustration
1 将模式开关置于手动位置
Place the mode switch in the
manual position
2 确保电控柜中的机器人空开处于开
状态
Ensure that the robot air
switch in the electric control
cabinet is in an open state
3 将主电源开关置于开，打开主电源
Place the main power switch on
and turn on the main power
4 按下示教器的“止-动”按钮，然后
可以用手柄操作机器人运动。
Press the "stop-move" button on
the teaching pendant, and then
the robot can be operated to
move using the handle.
● 手动切换到自动步骤
● Manually switching to automatic steps
步骤 操作 图示
step operation Illustration
1 将模式开关从手动置于自动位置
Place the mode switch from
manual to automatic position
2 示教器弹出对话框：是否选择自动
模式？
Teaching pendant pop-up dialog
box: Do you want to select
automatic mode?
 点击“确定”
Click 'OK'
3 在控制器上，按下“电机开”按钮
On the controller, press the
"Motor On" button
● 自动切换到手动步骤
● Automatically switch to manual steps
步骤 操作 图示
step operation Illustration
1 将模式开关从自动位置置于手动位
置
Place the mode switch from the
automatic position to the
manual position
● 急停（硬急停）
● Emergency stop (hard emergency stop)
当出现如下情况时，请立即按下急停按钮，停止系统：
When the following situations occur, please immediately press the
emergency stop button to stop the system:
机器人运行中，工作区域内有工作人员
 The robot is running and there are workers in the working area
机器人伤害了工作人员或是损坏了机器设备
 Robot that harms workers or damages machine equipment

示教器上的急停按钮 控制器上的急停按钮
Emergency stop button on the teaching pendant, emergency stop button
on the controller

● 急停恢复
● Emergency stop recovery
步骤 操作 图示
step operation Illustration
1 确保已经排除了所有危险
Ensure that all hazards have
been eliminated
2 急停按钮复位
Emergency stop button reset
3 在示教器中，确认事件日志中的
急停事件
In the teaching pendant,
confirm the emergency stop
event in the event log
4 按下电机“开”按钮，从急停状
态中恢复正常操作
Press the "on" button of the
motor to resume normal
operation from the emergency
stop state

● 停机步骤
● Shutdown steps
步骤 操作 图示
step operation Illustration
1 关闭示教器：选择 ABB 菜单->重新启
动->高级->关机，点击“确定”，
“关机”。等待到示教器显示
“ connect to the robot
controller”
Turn off the teaching pendant:
select ABB menu ->Restart -
>Advanced ->Shutdown, click "OK",
"Shutdown". Wait until the
teaching pendant displays'
connect to the robot controller
'
2 将主电源开关置于关，关闭主电源
Turn off the main power switch
and turn off the main power
supply
注意：关机后再次开机需要等待 2 分钟时间。
Note: After turning off the computer, it will take 2 minutes to turn
it on again.
● 回原位方法
● Method of returning to original position
方法 1：

Method 1:

弹起急停按钮把机器人切换到手动状态（）；
1. Pop up the emergency stop button to switch the robot to

manual mode ( );
用示教器把机器人缓慢的离开当前的死点位置（注意速度，不要过快，防止撞
击）
2. Use a teaching pendant to slowly move the robot away from
the current dead center position (pay attention to speed,
not too fast, to prevent collisions)
离开死点方法：
Method of leaving the dead center:
点击示教器中的 ABB->手动操做
a. Click on ABB ->Manual Operation in the teaching pendant

ABB 菜单
ABB menu
右下角 操纵杆方向 通过选择 2、1、3 轴控制模式
b. The direction of the lower right joystick is

controlled by selecting the 2, 1, and 3 axis control

modes
c. 按下图中的按钮 D，使能按钮（下图中的 D）要一直按着，使得机器人处于
运行状态。
c. Press button D in the figure below to keep the enable
button (D in the figure below) pressed until the robot is in
operation.

d.然后通过操纵手柄 E,根据实际情况操纵机器人 1、2、3 轴将机器人离开当前

死点。
d. Then, use the joystick E to manipulate the robot's axes
1, 2, and 3 according to the actual situation to move the
robot away from the current dead center.

注：在选择 1、2、3 轴操作时：

Note: When selecting axis 1, 2, and 3 operations:
向左拨动控制杆，机器人 1 轴向右移动；
Move the control lever to the left, and robot 1 moves axially to the
right;
向右拨动控制杆，机器人 1 轴向左移动；
Move the control lever to the right, and robot 1 moves axially to the
left;
向上拨动控制杆，机器人 2 轴向上移动；
Move the control lever upwards, and Robot 2 moves axially upwards;
 向下拨动控制杆，机器人 2 轴向下移动；
Move the control lever downwards, and robot 2 moves downwards in the
axial direction;
逆时针拨动控制杆，机器人 3 轴向上移动；
Move the control lever counterclockwise to move the robot 3 axially
upwards;
顺时针拨动控制杆，机器人 3 轴向下移动；
Move the control lever clockwise, and the robot will move downwards
in axis 3;
将机器人切换回自动状态；

3. Switch the robot back to automatic mode ;

示教器弹出“确定”对话框，点击“确定”；
4. The "OK" dialog box pops up on the teaching pendant,
click "OK";
按机器人控制柜中按白色按钮，使得机器人处于上电状态；
5. Press the white button in the robot control cabinet to
put the robot in a powered on state;
按报警清除（现场操作盒按钮有效）。
6. Press the alarm to clear (the on-site operation box
button is effective).
在现场操作盒为本地状态下点击回原位按钮，加机器人会自动回原位（如无效
则重复 2-7 步）；
7. Click the return to home button when the on-site
operation box is in the local state, and the robot will
automatically return to home (if it is invalid, repeat
steps 2-7);
方法 2：

Method 2:

把机器人切换到手动状态
1. Switch the robot to manual mode
用示教器把机器人缓慢的离开当前的死点位置，一步步移动回原位（注意速度，
不要过快，防止撞击）
2. Use a teaching pendant to slowly move the robot away from
its current dead center position and step by step back to
its original position (pay attention to the moving speed,
do not move too fast, this is to prevent collisions)
机器人控制器切换到自动
3. Robot controller switches to automatic
按报警清除（现场操作盒按钮有效）；
4. Press the alarm to clear (the on-site operation box
button is effective);
示教器弹出“确定”对话框，点击“确定”
5. The teaching pendant pops up a "OK" dialog box, click
"OK"

按机器人控制柜中按白色按钮（下图中的 C 按钮），使得机器人处于上电状态；
6. Press the white button (button C in the figure below) in
the robot control cabinet to put the robot in a powered on
state;
按操控台、电气柜或是 HMI 中的“机器人回原点”按钮，让机器人回到原点。
7. Press the "Robot Home" button on the control panel,
electrical cabinet, or HMI to return the robot to its home
position.
如果按照第 6 步操作后机器人还回不了原点，重复 2-6 的操作步骤，直到机器
人回到原点为止。
8. If the robot cannot return to the origin after following
step 6, repeat steps 2-6 until the robot returns to the
origin.
回到原点后，按报警清除（现场按钮盒按钮有效）。
9. After returning to the origin, press the alarm to clear
(the on-site button box button is effective).