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• ROBOT??
• ????
• ??(??????? ????)
• ??

• Extended Axes
• ????(??)

?????? 1??????(??,??) 2????? 3????(?????) 4??????
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• CONTROLLER
• Teach Pendant
• ???(?????? ??????I/O)

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CPU??
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?CONCURRENT IO??(??PLC??)(????)??????????????
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??????MOTOSIMEG???? ????PLC???????????(.lst)?MOTO
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3?????MOTOSIMEG
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Material handling and Palletizing Robot
Arc welding Robot
Spot welding Robot
Deburring Robot
LR Mate100i
ARC Mate 50i/iL
ARC Mate100i
F-200i
M-710i/iW
ARC Mate120i/iL
S430i
F-200i
M-710i/iW
S-900I
LR Mate100i
LR Mate200i/il
M-6i M-16i/iL M410I/iw
F-200i
M-710i/iW
S430i S-900i
LR Mate100i
LR Mate200i/il
M-6i M-16i/iL
F-200i/iL
M-710i/iW
S430i S-500i S-900i
Assembling Robot
2?????????
3?????????
1)???? 2)???? 3)2,3???
4)???? 5)???? 6)?????? 7)??????
1)????0-45??? 2)??????75RH
???85(?????) 3)??0.5G(4.9M/s2)
LR Mate100i
LR Mate200i/il
M-6i M-16i/iL M-710i/iW
F-200i/iL
12
FRAMES??/?????
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1)?????????24???????
???ORG/XX/XY ??ORG/XX???????
13
FRAMES??/?????
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?????????
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?????????TCP(Tool Center Point)?
???????????????TCP?,????????24???????
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14
FRAMES??/?????
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15

FRAMES??/?????
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1)?TP????TECH????????????,
2)??DEADMAN????,????????????DEADMAN????????????,
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?????????,????????????
TP???????
??JOINT???
?????TOOL???
????????X????
S
????????Y????
L
????????Z????
U
????????X???
R
????????Y???
B
????????Z???
T
16
???????
??????
1?I/O?? DOUT/DIN/WAIT/PULSE/AOUT/ARATION/ARATIOF/A
NTOUT
2????? JUMP/CALL/TIMER/(LABLE)/(COMMENT)/RET/NOP
/PAUSE/CWAIT/MSG/ADVINIT/ADVSTOP/
3????? CLEAR/INC/DEC/SET/ADD/RET/SUB/MUL/DIV/CNVRT
/AND/OR/NOT/XOR/MFRAME/SETE/GETE/GETS/SQRT/SIN/COS
/ATAN/MULMAT/INVMAT/SETFILE/GETFILE/SETREG/GETREG/
3????? MOVJ/MOVL/MOVC/MOVS/IMOV/SPEED/REFP
4????? SFTON/SFTOF/MSHIFT
5???????? IF/UNTIL/ENWAIT/
17
???????
????????
1????? ARCON/ARCOF/VWELD/AWELD/ARCSET/WVON/WVOF/AR
CCTS/ARCCTE/
2????? HAND/HSEN
3????? CUNCL/SPOT/STROKE/STRWAIT/
4??????? TOOLON/TOOLOF
18
???????
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??)?
???????????????????????????????????????????,??
??????????
1????
3????
2????
??????????????????????
19
??
????
???? ???? ??? (?? ) ??
??? ??? B000? B099 (100) ??????? 0 ? 255???? I/O ?????????? (AND, OR ? )?
??? ??? I000 ? I099 (100) ??????? -32768 ? 32767?
???? ???? D000 ? D099 (100) ??????? -2147483648 ? 2147483647?
??? ??? R000 ? R099 (100) ??????? -3.4E38 ? 3.4E38?? 1.18E-38 lt x 3.4E38
??? ??? S000 ? S099 (100) ???? 16????
??? ???? P000 ? P127 (128) ?????? XYZ????????XYZ????????????????????,?????????????????
??? ??? BP000 ? BP127 (128) ?????? XYZ????????XYZ????????????????????,?????????????????
??? ??? EX000 ? EX127 (128) ?????? XYZ????????XYZ????????????????????,?????????????????
20
??
????
???? ???? ??? ? ?
??? ??? LB000? LB?????? ???????0 ? 255???? I/O ?????????? (AND, OR ? )
??? ??? Ll000 ? LI?????? ??????? -32768 ? 32767?
???? ???? LD000 ? LD?????? ??????? -2147483648 ? 2147483647?
??? ??? LR000 ? LR?????? ??????? -3.4E38 ? 3.4E38?? 1.18E-38 lt x 3.4E38
??? ??? LS000 ? LS?????? ???? 16????
??? ???? LP000 ? LP?????? ?????? XYZ????????XYZ????????????????????,?????????????????
??? ??? LBP000 ? LBP?????? ?????? XYZ????????XYZ????????????????????,?????????????????
??? ??? LEX000 ? LEX?????? ?????? XYZ????????XYZ????????????????????,?????????????????
21
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???????????????? ?????????? ????????,??????????
??????????????????? ????????,????????????,???????
?????????, ??,? LB001 ??????,????????????????
????????? ?????????????,??????,???????????????
???????????????? ???????? LP000
????,????????P001,????????,? P001
????????????? SET P001 LP000
????????????????????? ??????????????????(?CALL
? JUMP ?????????? ?)?,????????????????,?????????
???RET? END ? JUMP ????????????,????,?????????????
??? CALL ????????,??RET ?????,????????CALL
??????? ??
22
IO
????
OT/OG/OGH/SOUT/AO
????
IN/IG/IGH/SIN
?????????????
1?I/O?(????)
2?????(????)
PROFIBUS
CC-LINK
DEVICE-NET
23
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????????????,??????????ON?
24
???????
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1?USB??(DX100)
1?CF?
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25
ROBOT???????