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Resumen del manual
Any copy or even partial is not allowed without prior written authorization from HHI. HHI reserves the right to modify without prior notification. Printed in Korea - April/2002. 1st Edition Copyright 2002 by Hyundai Heavy Industries Co.,Ltd. /HYUNDAI HEAVY INDUSTRIES CO.,LTD. ■ HEAD OFFICE 1, JEONHA-DONG, DONG-GU, ULSAN, KOREA TEL: 82-52-230-7901 ~11 FAX: 82-52-230-7900 ■ SEOUL OFFICE 140-2,GYE-DONG, JONGNO-GU, SEOUL,KOREA TEL: 82-2-746-4711~5 FAX: 82-2-746-4720 ■ DAEGU OFFICE 223-5, BUMEO 2-DONG, SUSUNG-GU,DAEGU,KOREA TEL : 82-53-746-6232 FAX : 82-53-746-6231 ■ CHEONAN OFFICE 355-15,DAGA-DONG,CHEONAN-SI, CHUNGCHEONGNAM-DO,KOREA TEL: 82-41-576-4294~5 FAX: 82-41-576-4296 ■ GWANGJU OFFICE 415-12,NONGSUNG-DONG, SEO-GU, GWANGJU, KOREA TEL: 82-62-363-5272 FAX: 82-62-363-5273 ■ SAI- iaa«Ai ashs 1axi TEL: 052-230-7901 ~11 FAX: 052-230-7900 ■ AHI^gAI 3IS 140-2 SPSS 14S TEL: 02-746-4711 ~5 FAX: 02-746-4720 ■ □ ?g«A| 2S 235-5SXI ssaass 6S TEL: 053-746-6232 FAX: 053-746-6231 ■ SS^E 355-15HXI 3S TEL: 041 -576-4294~5 FAX: 041-576-4296 ■ a^M¥^ â¥â«A| AH^ fegf 415-12ÏÏXI sa 3S TEL: 062-363-5272 FAX: 062-363-5273 Contents Chapter 1. Safety, Operation panel, Teach Pendant 1.1 Safety ..................................................... 1 - 2 1.1.1 General .................................................... 1 - 2 1.1.2 Relevant safety standard ................................... 1 - 5 1.1.3 Safety training ............................................ 1 - 5 1.1.4 Safety marking ............................................. 1 - 5 1.1.5 Definition of safety functions ............................. 1 - 7 1.1.6 Installation of robot ...................................... 1 - 8 1.1.7 Safety working procedures ................................. 1 - 15 1.1.8 Safety measures for entering safety fence ................. 1 - 20 1.1.9 Safety measures for maintenance and repair ................ 1 - 21 1.1.10 Safety function ........................................... 1 - 24 1.1.11 Safety related to end effectors ........................... 1 - 28 1.1.12 Liabilities ............................................... 1 - 29 1.2 Operation Panel............................................ 1 - 31 1.2.1 External shape of operation panel ......................... 1 - 31 1.2.2 Buttons of operation panel ................................ 1 - 31 1.3 Teach pendant ............................................. 1 - 33 1.3.1 External shape of teach pendant ........................... 1 - 33 1.3.2 Screen of teach pendant ................................... 1 - 34 1.3.3 Keys of teach pendant ..................................... 1 - 35 Chapter 2. Basic operation of robot 2.1 Basic operation............................................ 2 - 2 2.1.1 Controller's power/motor ON/OFF ........................... 2 - 2 2.1.1.1 Power ON/Motor ON ........................................ 2 - 2 2.1.1.2 Power OFF/Motor OFF ....................................... 2 - 2 2.1.2 How to initiate the system ................................ 2 - 3 2.1.3 Teaching .................................................. 2 - 3 2.1.4 Step and function ......................................... 2 - 4 -1 - AHYUNDAI HEAVY INDUSTRIES CO..LTD. 2.2 Basic things for step ....................................... 2 - 5 2.2.1 The parameter of STEP command line ........................ 2 - 5 2.2.1.1 Interpolation-locus from between step and step ............ 2 - 6 2.2.1.2 Pose ..................................................... 2 - 7 2.2.1.3 Speed .................................................... 2 - 8 2.2.1.4 Accuracy ................................................. 2 - 8 2.2.1.5 Tool number .............................................. 2 - 8 2.2.1.6 Output option ............................................ 2 - 8 2.2.1.7 Stop condition............................................ 2 - 9 2.2.1.8 Stop state variable ...................................... 2 - 9 2.2.2 Step position validation/modification method.............. 2 - 10 2.2.2.1 Encoder coordinate system ................................ 2 - 10 2.2.2.2 Base/Robot coordinate system ............................ 2 - 11 2.1.4 Coordinate system........................................ 2 - 13 2.3.1 JOG operation key ....................................... 2 - 13 2.3.2 Axis coordinate ......................................... 2 - 14 2.3.3 Robot coordinate ........................................ 2 - 15 2.3.4 User coordinate ......................................... 2 - 17 2.3.5 Tool coordinate ......................................... 2 - 18 2.4 Auto tool setting........................................ 2 - 19 Chapter 3. Service menu 3.1 Monitoring ........................................................................................................3 - 4 3.2 Register .....................................................................................................