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[Robot hn]

Bi 6: Hn ng c bin dng t hp. A-Mc tiu ca bi: Sau khi hc xong bi ny ngi hc c kh nng: - Thc hin c thnh tho cc bc vn hnh h thng r bt hn. - iu chnh v xc nh c cc ta chun ca m hn. - Son tho c cc lnh lp trnh hn. - Tnh ton v la trn c ch hn hp l. - Chy m phng. - Thc hin hn ng hn vi bin dng t hp. B- Ni dung c th: 1. Chun b dng c thit b. a. Dng c: o Knh hn. o o o o o Km ct dy hn. Km gp phi hn. Knh trng bo h mt. Bn chi st. M chng dnh.

b. Vt liu: o o o Dy hn 0.9 1.2 mm. Kh CO2 ng trong chai kh nn. Van iu p(loi dng cho CO2).

c. Thit b: H thng robot AX V6 (daihen).

[Robot hn]

2. c bn v:

Hn khung v tr hn gc ngang vi bin dng phc tp. Cc cung trn c bn knh 120 mm.. Yu cu thc hin hn ht trong mt ln hn.. Hn gc ngoi. Kch thc mi hn :

Cnh mi hn c kch thc 8mm. 3. Chun b v g nh phi: a. Chun b phi : Lm sch b mt. Mi ba via. 2

[Robot hn]
Un cong ng yu cy bn v (Theo g) nh pha trong phi. Phi c g trc ri vi a ln bn hn ca r bt hn. Phi m bo g nh chc chn. b. Yu cu g nh :

4. Khi ng robot hn:

Khi my khi ng tr mm hnh panen xut hin chunwg trnh load. Hn thng n khi ng trn bng iu khin sng mu stop nhp nhy. Sau khi chng trnh khi ng hon thnh trn mn hnh panen xut hin hnh nh cu lnh ch.

[Robot hn]
5. Lp trnh chng trnh hn. 5.1. Nhp s chng trnh cn xy dng:

n t hp phm ENABLE + pro(step) trn display sut hin khung:

Nhp s chng trnh cn thc hin vo mu xanh nhp nhy.(151) bng cch nhp s trn bn phm.

Sau khi nhp xong s chng trnh thc hin lu s chng trnh (ENTER)

[Robot hn]
5.2.t tn chng trnh:

Nhn FN trn bn phm. Trn display xut hin .

Yu cu nhp s chc nng cn gi. Nhp gi tr 99 gi khung t tn chng trnh.

Tn: {tapcccccccccc} sau n phim complete(F12)

[Robot hn]

Trn display hin tn chng trnh.

5.3.Chn ta chun cho r bt: a. Khi ng cc ng c.

n nt (MOTOR ON) bt sng bo ng c ca robot hot ng trn mn hnh display hin ln ch (start). b. Chn ta chun l ta ban u ca my.

Ghi nhn ta chun cho robot bng cch n phm REC (O. WRITE). 6

[Robot hn]

5.4. Lp trnh hn cc ng thng:

Di chuyn u m hn ti v tr th 2 v ghi nh v tr mi.

Ch l trn th hin ci t l (Joint). iu chnh tay my a m hn ti u ng hn. Lu gc m hn:

[Robot hn]
850

6.

450

M hn to vi phng ngang mt gc 450 v to vi dc trc mi hn mt gc 850. Ghi nhn v tr mi ca robot hn.

Chuyn ch thc hin t hn im sang hn ng thng. 7.

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