内容发布更新时间 : 2024/11/5 20:34:12星期一 下面是文章的全部内容请认真阅读。
UI【 14】 RSR6/PNS6 UI【 15】 RSR7/PNS7 UI【 16】 RSR8/PNS8
UI 9 - 16 RACK: 81 SLOT: 15 PORT: 9 UI【 17】 PNS strobe UI【 18】 Prod start
UI 17 - 18 RACK: 81 SLOT: 15 PORT: 17 UO【 1】 Cmd enabled UO【 2】 System ready UO【 3】 Prg running UO【 4】 Prg paused UO【 5】 Motion held UO【 6】 Fault UO【 7】 At perch UO【 8】 TP enabled
UO 1 - 8 RACK: 81 SLOT: 15 PORT: 1 UO【 9】 Batt alarm UO【 10】 Busy
UO【 11】 ACK1/SNO1 UO【 12】 ACK2/SNO2 UO【 13】 ACK3/SNO3 UO【 14】 ACK4/SNO4 UO【 15】 ACK5/SNO5 UO【 16】 ACK6/SNO6
UO 9 - 16 RACK: 81 SLOT: 15 PORT: 9 UO【 17】 ACK7/SNO7 UO【 18】 ACK8/SNO8 UO【 19】 SNACK UO【 20】 Reserved
UO 17 - 20 RACK: 81 SLOT: 15 PORT: 17
SAFETY SIGNALS::
External ESTOP FALSE SOP Estop FALSE TP ESTOP FALSE Hand Broken TRUE OverTravel FALSE Low Air Alarm FALSE Fence Open FALSE Belt Broken FALSE
TP Enable FALSE TP Deadman FALSE SVOFF Detect FALSE Servo Disconnect FALSE Non Teacher Enb FALSE
CURRENT ROBOT POSITION:: Group #: 1
CURRENT JOINT POSITION: Joint 1: 98.31 Joint 2: -21.86 Joint 3: -15.51 Joint 4: 3.71 Joint 5: -60.75 Joint 6: 227.81 EXTAXS: 1: 1036.33
Frame #: 0 Tool #: 2
CURRENT USER FRAME POSITION: X: -559.31 Y: 1592.64 Z: 151.27 W: -.58 P: -12.93 R: 89.70 CFG: N U T, 0, 0, 1 EXTAXS: 1: 1036.33
Tool #: 2
CURRENT WORLD POSITION: X: -559.31 Y: 1592.64 Z: 151.27 W: -.58 P: -12.93 R: 89.70 CFG: N U T, 0, 0, 1 EXTAXS: 1: 1036.33
CURRENT ROBOT POSITION::
Group #: 2
CURRENT JOINT POSITION: Joint 1: 0.00
Frame #: 0 Tool #: 2
CURRENT USER FRAME POSITION:
Cartesian position cannot be calculated
Tool #: 2
CURRENT WORLD POSITION:
Cartesian position cannot be calculated
ETHERNET CONFIGURATION::
$HOSTNAME :ROBOT TMI_ROUTER :ROUTER
TMI_ETHERAD :00:e0:e4:0f:09:f6 Subnet mask :255.255.255.0
Host Table 【17】: QUICC0 Host Table 【18】: QUICC1 Host Table 【19】: QUICC2 Host Table 【20】: ROUTER
Host Table 【21】: PCJOG addr:192.168.0.100 Server 【1】: FTP state: 3 Server 【2】: FTP state: 3
SERIAL PORT CONFIGURATION::
DEVICE: JRS16 RS-232-C P2:
USAGE : Maintenance Cons SPEED : 9600 PARITY : None STOPBITS : 1bit TIMEOUT : 0
INTERFACE : RS-232-C DEVICE: JD17 RS-232-C P3:
USAGE : KCL/CRT
SPEED : 9600 PARITY : None STOPBITS : 1bit TIMEOUT : 0
INTERFACE : RS-232-C
MACRO DEFINIIION::
【 1】NAME :CHUCK PROG NAME :CHUCK Assign type:－－ Assign ID :0
【 2】NAME :UNCHUCK PROG NAME :UNCHUCK Assign type:－－ Assign ID :0
【 3】NAME :G_C_OPEN PROG NAME :G_C_OPEN Assign type:－－ Assign ID :0
【 4】NAME :G_C_CLOS PROG NAME :G_C_CLOS Assign type:－－ Assign ID :0
【 5】NAME :H_C_OPEN PROG NAME :H_C_OPEN Assign type:－－ Assign ID :0
【 6】NAME :H_C_CLOS PROG NAME :H_C_CLOS Assign type:－－ Assign ID :0
【 7】NAME :H_CLAMP PROG NAME :H_CLAMP Assign type:－－ Assign ID :0
【 8】NAME :H_UNCLAM PROG NAME :H_UNCLAM Assign type:－－ Assign ID :0
【 9】NAME :RESET PROG NAME :RESET
Assign type:－－ Assign ID :0
【 10】NAME :MOVE TO PURGE PROG NAME :MOV_PURG Assign type:MF Assign ID :2 SYSTEM MACRO
【 11】NAME :DISPENSE COMPLET PROG NAME :ENDJOB Assign type:－－ Assign ID :0 SYSTEM MACRO
【 12】NAME :FACE_OFF PROG NAME :FACE_OFF Assign type:－－ Assign ID :0
【 13】NAME :FACE_ON PROG NAME :FACE_ON Assign type:－－ Assign ID :0
【 14】NAME :JIG_ADV PROG NAME :JIG_ADV Assign type:－－ Assign ID :0
【 15】NAME :JIG_RET PROG NAME :JIG_RET Assign type:－－ Assign ID :0
【 16】NAME :PART_1 PROG NAME :PART_1 Assign type:－－ Assign ID :0
【 17】NAME :PART_2 PROG NAME :PART_2 Assign type:－－ Assign ID :0
【 18】NAME :DEFAULT ACC PROG NAME :DEF_ACC Assign type:－－ Assign ID :0 SYSTEM MACRO
【 19】NAME :PART_4 PROG NAME :PART_4 Assign type:－－
CURRENT ROBOT POSITION:: Group #: 1
CURRENT JOINT POSITION: Joint 1: 98.31 Joint 2: -21.86 Joint 3: -15.51 Joint 4: 3.71 Joint 5: -60.75 Joint 6: 227.81 EXTAXS: 1: 1036.33
Frame #: 0 Tool #: 2
CURRENT USER FRAME POSITION: X: -559.31 Y: 1592.64 Z: 151.27 W: -.58 P: -12.93 R: 89.70 CFG: N U T, 0, 0, 1 EXTAXS: 1: 1036.33
Tool #: 2
CURRENT WORLD POSITION: X: -559.31 Y: 1592.64 Z: 151.27 W: -.58 P: -12.93 R: 89.70 CFG: N U T, 0, 0, 1 EXTAXS: 1: 1036.33
CURRENT ROBOT POSITION::
Group #: 2
CURRENT JOINT POSITION: Joint 1: 0.00
Frame #: 0 Tool #: 2
CURRENT USER FRAME POSITION:
Cartesian position cannot be calculated
Tool #: 2
CURRENT WORLD POSITION:
Cartesian position cannot be calculated
ETHERNET CONFIGURATION::
$HOSTNAME :ROBOT TMI_ROUTER :ROUTER
TMI_ETHERAD :00:e0:e4:0f:09:f6 Subnet mask :255.255.255.0
Host Table 【17】: QUICC0 Host Table 【18】: QUICC1 Host Table 【19】: QUICC2 Host Table 【20】: ROUTER
Host Table 【21】: PCJOG addr:192.168.0.100 Server 【1】: FTP state: 3 Server 【2】: FTP state: 3
SERIAL PORT CONFIGURATION::
DEVICE: JRS16 RS-232-C P2:
USAGE : Maintenance Cons SPEED : 9600 PARITY : None STOPBITS : 1bit TIMEOUT : 0
INTERFACE : RS-232-C DEVICE: JD17 RS-232-C P3:
USAGE : KCL/CRT
SPEED : 9600 PARITY : None STOPBITS : 1bit TIMEOUT : 0
INTERFACE : RS-232-C
MACRO DEFINIIION::
【 1】NAME :CHUCK PROG NAME :CHUCK Assign type:－－ Assign ID :0
【 2】NAME :UNCHUCK PROG NAME :UNCHUCK Assign type:－－ Assign ID :0
【 3】NAME :G_C_OPEN PROG NAME :G_C_OPEN Assign type:－－ Assign ID :0
【 4】NAME :G_C_CLOS PROG NAME :G_C_CLOS Assign type:－－ Assign ID :0
【 5】NAME :H_C_OPEN PROG NAME :H_C_OPEN Assign type:－－ Assign ID :0
【 6】NAME :H_C_CLOS PROG NAME :H_C_CLOS Assign type:－－ Assign ID :0
【 7】NAME :H_CLAMP PROG NAME :H_CLAMP Assign type:－－ Assign ID :0
【 8】NAME :H_UNCLAM PROG NAME :H_UNCLAM Assign type:－－ Assign ID :0
【 9】NAME :RESET PROG NAME :RESET
Assign type:－－ Assign ID :0
【 10】NAME :MOVE TO PURGE PROG NAME :MOV_PURG Assign type:MF Assign ID :2 SYSTEM MACRO
【 11】NAME :DISPENSE COMPLET PROG NAME :ENDJOB Assign type:－－ Assign ID :0 SYSTEM MACRO
【 12】NAME :FACE_OFF PROG NAME :FACE_OFF Assign type:－－ Assign ID :0
【 13】NAME :FACE_ON PROG NAME :FACE_ON Assign type:－－ Assign ID :0
【 14】NAME :JIG_ADV PROG NAME :JIG_ADV Assign type:－－ Assign ID :0
【 15】NAME :JIG_RET PROG NAME :JIG_RET Assign type:－－ Assign ID :0
【 16】NAME :PART_1 PROG NAME :PART_1 Assign type:－－ Assign ID :0
【 17】NAME :PART_2 PROG NAME :PART_2 Assign type:－－ Assign ID :0
【 18】NAME :DEFAULT ACC PROG NAME :DEF_ACC Assign type:－－ Assign ID :0 SYSTEM MACRO
【 19】NAME :PART_4 PROG NAME :PART_4 Assign type:－－
SERIAL PORT CONFIGURATION::
DEVICE: JRS16 RS-232-C P2:
USAGE : Maintenance Cons SPEED : 9600 PARITY : None STOPBITS : 1bit TIMEOUT : 0
INTERFACE : RS-232-C DEVICE: JD17 RS-232-C P3:
USAGE : KCL/CRT
SPEED : 9600 PARITY : None STOPBITS : 1bit TIMEOUT : 0
INTERFACE : RS-232-C