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8/17/2019 Manual Estudante Fanuc
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FANUC Robotics do Brasil Ltda
Controlador FanucGuia do Estudante
J3MN1BR
Este manual contém informações restritas à FanucRobotics, fornecidas apenas para seus clientes. Nenhum
outro usuário é autorizado sem a expressa permisso daFanuc Robotics.
F!N"# Robotics do $rasil %tda.!&. 'ta&iano !l&es de %ima ()*)#asa +erde -o aulo -/el (( *0)) 1)00Fax (( *0)) 1121e-mail: [email protected]
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CUSTOMER RESOURCE CENTER
11 – 3955-0599WWW.FANUCROBO!C".COM.BR
SUPORTE TÉCNICOSERVIOS E! C"!PO
REP"ROS #E RO$%S
PE"S #E REPOSI&O REP"RO #E PE"S
TREIN"!ENTOVEN#"S #E RO$%S
!"R'ETIN( EN(EN)"RI"
• -uporte /écnico 34ot %ine5
• -olicitaço de +isitas/écnicas
•
'rdens de -er&iços paraReparos de eças• -er&iços de 6anutenço
re&enti&a e rediti&a
• eças para Rob7sem manutenço
• /rocas de eças em8arantia
•
-oft9ares e'pcionais
• /reinamentos emro:ramaço,6anutenço Elétrica e6ec;nica
• /reinamentosrealizados em áreas
para treinamento emnossa Empresa ou emclientes
• 6anuais
• +endas de Rob7s
• ro
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9N5!CE
1 SEGURANÇA.............................................................................................................101.1 CONSIDERANDO SEGURANÇA PARA A INSTALAÇÃO DE SEU ROBÔ....................................12
1.2 M ANTENDO AS MÁQUINAS OPERATRIZES E OS DISPOSITIVOS EXTERNOS EM SEGURANÇA..19
1.3 M ANTENDO O ROBÔ EM SEGURANÇA..............................................................................20
2 SISTEMA ROBÓTICO GERAL........................................................................................23
2.1 ROBÔ...........................................................................................................................23
2.2 P AINEL DO CONTROLADOR............................................................................................2
2.3 P AINEL DO OPERADOR..................................................................................................2!
2. TEAC" PENDANT...........................................................................................................32
2.# C"AVE DEADMAN..........................................................................................................33
3 OPERANDO O EQUIPAMENTO.............................................................................35
3.1 LIGANDO E DESLIGANDO O ROBÔ..................................................................................3#
3.2 RECUPERAÇÃO DE $ AL"AS............................................................................................3%
3.3 MOVIMENTANDO O ROBÔ...............................................................................................3%
5 CRIANDO E MODIFICANDO PROGRAMAS.....................................................................47
6 INSTRUÇÕES DE MOIMENTO......................................................................................4!
7 INSTRUÇÕES DE LÓGICA............................................................................................55
!.1 LBL&X' ( )MP LBL&X'....................................................................................................##
!.2 CALL PROGRAM...........................................................................................................##
!.3 INSTRUÇÃO REMAR*.....................................................................................................#%
!. INSTRUÇÃO TIMER.........................................................................................................#%
!.# INSTRUÇ+ES DE REGISTRADORES..................................................................................#,
!.% INSTRUÇ+ES CONDICIONAIS...........................................................................................%
!.! INSTRUÇÃO MESSAGE...................................................................................................%!
!., INSTRUÇÃO -AIT.......................................................................................................%!
!.9 INSTRUÇ+ES COM ENTRADAS E SADAS..........................................................................!#
4 ENTRADAS E SA"DAS.................................................................................................#0
TIPOS DE ENTRADAS E SADAS....................................................................................................,0
ISUALI$ANDO OS SINAIS.........................................................................................#1
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FORÇANDO OS SINAIS.................................................................................................#2
CONFIGURANDO AS ENTRADAS E SAIDAS.............................................................#4
FUNÇÕES DOS COMPONENTES..................................................................................!1CLASSIFICAÇ%O DAS FAL&AS...........................................................................................!#
%.1 $ AL"AS DE CLASSE 1.................................................................................................. 9,
%.2 $ AL"AS DE CLASSE 2....................................................................................................9,
%.3 $ AL"AS DE CLASSE 3....................................................................................................99
%. $ AL"AS DE CLASSE ....................................................................................................99
%.# DETECÇÃO DE $AL"AS BASEADA EM $USVEIS............................................................100
7 FAL&A CLASSE 1.....................................................................................................107
!.1 TRANS$ORMADOR MULTI/T AP......................................................................................10,
!.2 $ONTE DE ALIMENTAÇÃO DC.......................................................................................112
!.3 CONECTORES DA $ONTE.............................................................................................112
!. VERI$ICANDO A UNIDADE DA $ONTE.............................................................................112
!.# DIAGRAMA LIGA(DESLIGA.............................................................................................11#
!.% PLACA DO P AINEL DE OPERADOR................................................................................119
!.! CONEX+ES DA PLACA DO P AINEL DE OPERAÇ+ES........................................................119
!., B AC*/PLANE R AC*...................................................................................................12%
# DIAGNÓSTICO DE FAL&AS........................................................................................12#
,.1 DIAGNSTICO DE $AL"AS PELO LED DA $ONTE...........................................................12,
,.2 CONTROLADOR NÃO LIGA............................................................................................130
! FAL&AS DE CLASSE 2...........................................................................................13#
9.1 SINTOMAS...................................................................................................................13,
9.2 C AUSAS POSSVEIS.....................................................................................................13,
9.3 PLACA MÃE.................................................................................................................13,
9. CONECTORES DA M AIN BOARD....................................................................................12
9.# V ARIÁVEIS...................................................................................................................13
10 ERIFICAÇ%O DE FAL&AS DE CLASSE 2.....................................................146
10.1 VERI$ICANDO $AL"AS ATRAVS DOS LEDS DA CPU.....................................................1%
10.2 ANÁLISE DE $AL"AS PELO DISPLA4 DE 0! SEGMENTOS5................................................1,
10.3 M ANIPULAÇÃO DE ARQUIVOS E PROGRAMAS................................................................1#0
10. STORAGE DEVICES......................................................................................................1#0
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10.# CON$IGURANDO A PORTA DE COMUNICAÇÃO..............................................................1#
10.% M ANIPULANDO PROGRAMAS........................................................................................1%!
10.! DELETANDO PROGRAMAS DO MENU SELECT................................................................1!2
10., M ANIPULANDO ARQUIVOS............................................................................................1!
BAC'ING UP CONTROLLER COMO IMAGEM................................................................17#
11 MASTERI$ANDO..............................................................................................1#1
11.1 ENCODER...................................................................................................................1,2
11.2 M ASTERIZAÇÃO...........................................................................................................1,3
PROCEDIMENTO PARA MASTERIZAÇÃO.......................................................................................1,#
12 FAL&AS DE CLASSE 3...........................................................................................1!2
12.1 SINTOMAS...................................................................................................................19212.2 C AUSAS POTENCIAIS...................................................................................................192
12.3 SERVO AMPLI$ICADOR.................................................................................................192
12. DENTRO DO SERVO AMPLI$ICADOR..............................................................................19!
12.# AMPLI$ICADOR DE POT6NCIA.......................................................................................19!
12.% LEDS DO SERVO AMPLI$ICADOR..................................................................................199
12.! CIRCUITO DE EMERG6NCIA..........................................................................................20%
12., UNIDADE DE EMERG6NCIA REDUNDANTE.....................................................................209
12.9 PLACA DE EMERG6NCIA...............................................................................................210
12.10 SINAIS DE EMERG6NCIA..............................................................................................21#
12.11 TELA DE OCORRENCIA DE ALARMES.............................................................................21!
13 LISTA DE CÓDIGO DE ERROS................................................................................222
TIPOS DE ALARMES..................................................................................................244
FINALIDADE DE CADA ALARME........................................................................................244
14 FAL&AS DE CLASSE 4...........................................................................................2!0
1.1 M ANUTENÇÃO PREVENTIVA..........................................................................................292
15 SISTEMAS DE COORDENA(DAS )FRAMES*...........................................................2!4
1#.1 CON$IGURAÇ+ES DE COORDENADAS...........................................................................29
1#.2 TIPOS DE COORDENADAS $RAMES.........................................................................29#
1#.3 CON$IGURANDO COORDENADAS DE $ERRAMENTA......................................................29%
1#. CON$IGURANDO COORDENADAS DE PLANO DE TRABAL"O USER.............................309
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7 INSTRUÇÕESDE LÓGICA
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! instruço RE6!RY habilita a inserir comentários no pro:rama.Estes comentários sero inseridos em CualCuer linha de pro:ramaço ?obs> o comentário sempre aparecerá sozinho em
uma linha de pro:ramaço> CualCuer outra instruço &irá na linha posterior ou anterior@. ' comentário pode ter até *L caracteresalfabéticos, numéricos , pontuações ou espaços. ! instruço decomentário sempre aparecerá precedida de um ponto deexclamaço 3Z5. ara inserir um comentário. +ocI de&e>
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! instruço 6E--!8E mostra uma mensa:em especfica na tela"-ER. ! mensa:em pode ter de ( a L* caracteres entre letras. pontuações, e espaços. -e &ocI Cuiser espaços entre as mensa:ens,
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7.! I/-: AITDnstruções ]!D/ executam uma espera por um tempo especficono pro:rama ou até Cue a condiço se AIT -=?7 @JF7.
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Dnstruções com entradas e sadas ou DB', habilitam o pro:rama aen&iar e receber sinais di:itais ou anal=:icos, discretos ou em
rede. Existem &ários tipos de instruções de DB'>
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Entradas i:itais ?D@ e -adas i:itais ?'@ so sinaisconfi:urados por usuários. odem ser discretos ou em rede,conforme a instalaço.
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4Entradas e sadas
4 ENTRADAS ESA"DAS
T,+
!s entradas e sadas de rob7 so a interface entre o rob7 eeCuipamentos periféricos, tais como &ál&ulas solen=ides,relés, sensores, potenci7metros, %#s, etc.!s mais utilizadas so>
.( 5i/itais> so sinais biestá&eis?'NB'FF@. Ex> sensores de presença , botões pulsadores , l;mpadas sinalizadoras,relés, contatores, etc.
.L Anal4/icos> so sinais cu &ál&ulas proporcionais, potenci7metros, sistemas de controle detenso em processo de solda:em, etc.
.* Gru*os> so a:rupamentos de L oumais sinais di:itais. !s entradas e sadas em:rupo permitem ao usuário trabalhar comum :rupo de sinais di:itais, utilizando&alores numéricos ?c=di:o $#@.
.T Usurios> so entradas e sadas di:itais prédefinidas para o rob7. Estes sinais soutilizados para controle de um eCuipamentoou para Cue um eCuipamento possacontrolar o rob7 em seleço de pro:ramas, paradas em falha, pausa de pro:ramas emo&imento, etc.
.) !nterconnect> U utilizado Cuando há anecessidade de relaço entre entradas esadas sem Cue se -o entradas e sadas di:itaisconfi:uradas para uso com %#Os.
!s entradas e sadas tipo %# so pouco utilizadas, sendomais comum utilizarmos as entradas e sadas tipo i:itaiscomuns. ! diferença entre essas duas sadas será apenascom relaço à sintaxe do pro:rama. ! &anta:em de se usar
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E/-+ S>+
as entradas e sadas tipo %# é com relaço a or:anizaçodos tipos de entradas e sadas ?podese utilizar entradas esadas tipo %# apenas para a interface de %#, e asdi:itais normais para entradas e sadas :enéricas como
sensores, sinalizadores, etc.@
ISUALI$ANDO OSSINAIS
ara acessarmos entradas e sadas, de&emos>ressionar a tecla 6EN"- -elecionar o item DB' !pertar F( W/PEX -elecionar o tipo de entrada e sadaCue se dese
-e a tela Cue apareceu for uma tela de entradas e &ocICuiser &isualizar as sadas, pressione a tecla F* WDNB'"/Xe a tela de sadas irá aparecer e &ice&ersa.
Na coluna da direita, &ocI &erá a lista de entradas ousadas. Na coluna -D6, &ocI conse:uirá &isualizar seexiste al:um sinal simulado. Na coluna -/!/"- &ocI irá &isualizar Cual o status dosinal ?se está acionado 'N ou no 'FF@.
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E/-+ S>+
FORÇANDO OSSINAIS
1. "e 2oc; esti2er 2isualiando os sinaisde sada)
For6ando os sinais de sada)
Na tela abaixo, posicione o cursor na linha da sada Cue&ocI dese
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E/-+ S>+
manter o sinal.
CONFIGURANDO ASENTRADAS E SAIDAS
ara confi:urar entradas e sadas para utilizaço emRob7s, é necessário Cue &ocI saiba o tipo de interfaceutilizado. ! interface de entradas e sadas pode ser>
(. 6=dulo !> -o m=dulos Cue utilizam cartões de entradas esadas di:itais ou anal=:icas. Estes cartões soconectados &ia RacH e m=dulo de interface ao rob7. !&anta:em de se utilizar m=dulos tipo ! é Cue existe
uma flexibilidade com relaço ao tipo de carto Cue&ocI dese
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E/-+ S>+##
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E/-+ S>+
L.6=dulo $ > -o m=dulos Cue utilizam cartões deentradas e sadas di:itais. Estes cartões so conectados&ia m=dulo de interface ao rob7. ! principal &anta:emde se utilizar m=dulos tipo $ é o espaço reduzido
necessário para a instalaço. #ada m=dulo de interfacede m=dulo ! suporta 1( carto de (2 pontos de entradaseBou sadas expans&eis até (2 pontos adicionais.
*. Redes> e&ice net, rofibus, RD',8enius. ' hard9are esoft9are do rob7 de&erá possuir cartões adicionais Cuesuportem o tipo de rede a ser utilizado. 8eralmente
utilizamos rede Cuando necessitamos de uma&elocidade de comunicaço alta , uma Cuantidaderazoá&el de pontos e lon:as dist;ncias entre osm=dulos.
#!
Dnterface para e&ice Net
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E/-+ S>+
No soft9are, a confi:uraço dependerá do endereçamentodo racH, n[mero do slot e primeiro ponto da confi:uraço.ara confi:urar o soft9are>/eclar menus -elecionar DB' V EN/ER /eclar F(WtGpeX -elecionar o tipo de DB' dese
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E/-+ S>+ !1
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E/-+ S>+
+ocI irá confi:urar os seus DB'Os conforme o tipo deeCuipamento utilizado para interface.
/D' EDN/ERF!#E R!#Y -%'/ -/!R/ 'DN/
6`"%' ! DND#D! 'R ( '"E%' 6EN'RENERE' ER!#Y %D+RE
EENE !'-D' '#!R/' N'R!#Y
EENE !#'NFD8"R!'F-D#!
6`"%' $ #'NF'R6E 'ENERE!6EN/' #'NFD8"R!' N' D -]D/#4
DND#D! 'R ( EENE !#'NFD8"R!'F-D#!
E+D#E NE/ R!#Y _(_T EENE '
6!# D
EENE !
-EJ"EN#D! N'#'NA"N/' EDB'O- E#'6"ND#!'
6E6'RD! 1 1 18END"- NE/]'RY
R!#Y (2 DND#D! 'R ( EENE !-EJ"EN#D! N'#'NA"N/' EDB'O- E#'6"ND#!'
R'FD$"- 2 ( (
#'N/R'%NE/ _)_2 6!# D (RE6'/E DB' R!#Y (2 DND#D! 'R ( EENE !-EJ"EN#D! N'#'NA"N/' EDB'O- E#'6"ND#!'
• ara testar se o DB' está confi:urado corretamente, pressionar NEQ/ pressionar a tecla de funço+ERDFP
• ara Cue o rob7 aceite as alterações em DB's, énecessário se ralizar um #old -tart no rob7?desli:arBli:ar o controlador@.
E/-+ >+ +U, )UOP*
Entradas e sadas de usuário so sinais de interface prédeterminados no rob7 para interface com eCuipamentos periféricos e ferramentas.ara &isualizálos>
(. ressione 6enus
!2
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E/-+ S>+
L. -elecione DB'*. !perte F( WtGpeXT. -elecione "'Os). 6ude entre tela de entradas e sadas
utilizando a tecla F* ?DNB'"/@
! se:uinte tabela relaciona os sinais de EB- usados para a interface do dispositi&o periférico no controlador RA*.
-inais de entrada ?+er $.*.(@
S,/5escri6(o
D6-/ -inal de parada instant;nea
4'% -inal de reter -F- -inal de &elocidade de se:urança#-/'D -inal de parada de cicloF!"%/ RE-E/ -inal de liberaço de alarme-/!R/ -inal de incio de ciclo4'6E -inal para selecionar o n[mero da reCuisiçoBpro:rama para manutenço do rob7 ?(@EN$% -inal de ati&açoR-R(BN-( -inal para selecionar o n[mero da reCuisiçoBpro:rama para manutenço do rob7 ?(@R-RLBN-L -inal para selecionar o n[mero da reCuisiçoBpro:rama para manutenço do rob7 ?(@R-R*BN-* -inal para selecionar o n[mero da reCuisiçoBpro:rama para manutenço do rob7 ?(@R-RTBN-T -inal para selecionar o n[mero da reCuisiçoBpro:rama para manutenço do rob7 ?(@R-R)BN-) -inal para selecionar o n[mero da reCuisiçoBpro:rama para manutenço do rob7 ?(@R-R2BN-2 -inal para selecionar o n[mero da reCuisiçoBpro:rama para manutenço do rob7 ?(@
R-RBN- -inal para selecionar o n[mero da reCuisiçoBpro:rama para manutenço do rob7 ?(@R-R_BN-_ -inal para selecionar o n[mero da reCuisiçoBpro:rama para manutenço do rob7 ?(@N-/R'$E -inal estrobosc=pico N-R'-/!R/ -inal de partida da operaço automática(> R-R> ReCuisiço para 6anutenço do Rob7 ?R-R) a R-R_ so opcionais@. N-> Entrada para -eleço do N[mero do ro:rama ?opcional@ Juer se
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E/-+ S>+
!#Y(B-N'( #onfirmaço de R-RBsinal de n[mero de pro:rama selecionado!#YLB-N'L #onfirmaço de R-RBsinal de n[mero de pro:rama selecionado!#Y*B-N'* #onfirmaço de R-RBsinal de n[mero de pro:rama selecionado!#YTB-N'T #onfirmaço de R-RBsinal de n[mero de pro:rama selecionado!#Y)B-N') #onfirmaço de R-RBsinal de n[mero de pro:rama selecionado!#Y2B-N'2 #onfirmaço de R-RBsinal de n[mero de pro:rama selecionado!#YB-N' #onfirmaço de R-RBsinal de n[mero de pro:rama selecionado!#Y_B-N'_ #onfirmaço de R-RBsinal de n[mero de pro:rama selecionado-N!#Y -inal de confirmaço de N-
ggggggg No usado ?para futura expanso@
!4
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5Fun6es dosCo$*onentes
#
FUNÇÕES DOSCOMPONENTES
P; MH@ A F; JH@ ;7>J JJ:;7F7;@7 7 ;7>7?7 @ 87?J@J7 \@> ;7>7@ F7\@ :< 7.
P;< ?@ E>?< @ S]?< @;@ @>@ 7 R78 @ @:FJ@>7H7 AC @>? @J K:7<>]@:< ?@ @>]>7
B;iF>@ 7 R;i5 S@@ F J7>@J ?< ?:@7@:< ;7J7 $7>@ CPU F;< ?@ @?@.
T@; F@>?>5T7?< < 7F@[@<:>;:>?7 F7JH7 ?@ 78<
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F/J + C=@;@ F ;[@< ?@ J@J:PCMCIA. TJ8J F@ ?7 ;7>7@?7 ;:;:7 ?@ F? ?@ @J@W>;:.
T>H7
;7>@:? F @>?@@:? F@7 ;7>7?7. E:7J@ >@;@@< @@ ?@ ;7>7@:>@>J@>@.
C:;:7 :>@F75 S@ 7@ J@ >7
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F/J + C=
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F/J + C=
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F/J + C=
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10Con%i/uration
R/)3 P:> C7>7 R@:8@ E@;:; M:>@>>;@
LAB 4
Identificar cada um dos componentes do controlador.
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F/J + C=
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6Classes de Fal'as
6
CLASSIFICAÇ%ODAS FAL&AS
A< < @>H7;7@: :?@>::@ ;7@.$< @J P F 78< ?@ P:>P78@J< @J T@; P@>?> 7 >7 ;87 ?7
J@]>7J<T@; P@>?> ?7
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C + F@
T@; P@>?> 7 ;87 ?7 TP 7 M?7 ?@B@: :>]>@ 7 R;i B;iF>@ @>8@
CH7 ?@ ;7>7@ ?@ @:7 :: 6.3 F@ + C
3S:>7J<
LYJF? ?@ AJ@ ;:7>?C7>7@< *M1 @ *M2 @H7 ?@ F7W>;: >7< S@7 AJF::;?7@ @ ?7T@;
C@J@>7 ?@ @J@W>;:U>:??@ ?@ F? ?@ @J@W>;: R@?>?>@P; ?7 P:>@ ?@ OF@?7 C87<
6.4 F@ + C4
S:>7J<B78 H7
7JK:;7O< F7J<
C:< @@>7< >H7 @?7c
7 78.
103
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C + F@
6.5 D-9: +?@ 8+= F>,
(. Fonte
$15 $? AC
$35 $
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C + F@
$7>@ R)3(R)3:B
105
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C + F@
Nome Sintoma, quando o fusível estiver
queimado
Ação
F1 ' %E D% ?&erde@ da fonte no acende, e no é poss&el li:ar o rob7.
1 C@; < >:??@< ?@ @>:H7 @ 7< ;87<;7>@;?7< 7< ;7>@;7@< CP2 @ CP3 ?
$7>@ F @::; F7
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C + F@
L. Fus&eis do ser&o amplificador
$U15P >7 87 ?7 78 @ F7@H7 f2 E.
$1 $25 P F7@H7 ?@ < ?7 ;:;:7 >7
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C + F@
NOE">
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
10#
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6Classes de Fal'as
LAB 5
Passos Verifique o tipo de falha que ocorreu no controlador
10!
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C + F@
NOE">
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
110
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7Fal'as de Classe 1
7 FAL&A CLASSE1
1. S:>7J< @:7?7 >H7 :
A @ ?7 T@; P@>?> @ :J@>H7 DC ?7 F:>@ ?@
;7>7@.
$< @J P F 78< ?@ P:>P78@J< @J T@; P@>?> 7 >7 ;87 ?7J@]>
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F@ + 9 1
7.1 T/?=+M-,(T<
' transformador é localizado na parte traseira docontrolador. ! alimentaço pode ser de *_1 a )) &olts.ara acomodar &ários n&eis de tenso, o transformador possui &ários /aps de alimentaço primária.
!s tensões de sada so>1. T:KH7 ?7<
7KH7 ?7R;i : $7>@
3. M7>7K
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F@ + 9 1 113
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7Fal'as de Classe 1
E=
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12Class 1 Fault
R/)3 P:> C7>7 R@:8@ E@;:; M:>@>>;@
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12Class 1 Fault
R/)3 P:> C7>7 R@:8@ E@;:; M:>@>>;@
7.2 F/- +A,=/-: DC
8eral> ! fonte de alimentaço con&erte a tenso !# em
di&ersos n&eis de tenso #. /ambém possui o circuito deinicializaço do sistema.
7.3 C/9- +FO/-
1. CP1200VAC ?7 >:?7@< @ ;:;:7< ?@
@J@W>;:
3. CP3S]? 200VAC
. CPU
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F@ + 9 1 117
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F@ + 9 1
$7>@ ?@ :J@>H7 DC
C7>@H7 F ;:;:7 L:(D@7
11#
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F@ + 9 1
7.5 D,=L,D,
ia:rama %i:aBesli:a simplificado.
D:J ?@ B7;7<
11!
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12Class 1 Fault
R/)3 P:> C7>7 R@:8@ E@;:; M:>@>>;@
R;i($7>@
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F@ + 9 1
C:;:7 ?@ @>
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F@ + 9 1
C:;:7 ? $7>@ ?@ @>
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F@ + 9 1
7.6 P9 + P,/+ O
L:; ?@ ;7>7@ "SSB ": SF@@? S@: Bi ?@ "SSBI>?:; @ ;7J>:;H7 @J :8 :; @>@
M:> B7? @ P; ?7 P:>@ ?@ 7F@?7 @
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F@ + 9 1
7.7 C/J +P9 + P,/+ O@H7 F P; F:>;:F :>;:>?7
7>(7
3. CRT,5 P< @ LED< ? F7 ?7 P:>@. TBOP35 L:(D@7
#. TBOP 5 P? ?@ @J@W>;: @@> P7H78@7 @;.
%. TBOP#5 R@ ?@ ?:H7 ?@ F? ?@@J@W>;:
!. CRT! 5 C@ ?@ H7 F 7 ;:;:7 ?@ P??@ @J@W>;:
9. CRP#5 "7]J@710. CRP11 5 2V.;7J PO$$DO
11. CRP1 5 2V
12. CRM33 5C7>@H7 ;7J 7 T@; P@>?>
13. CRS9 5 C7J>:;H7 ?@ I(Oq<
1. CR)2B 5 "SSB
1#. CRS1, 5 P F7 DB2# @J @>@ 7 F:>@RS232
1%. CP# 5 2V 7J PSU
1!.CA39 5 V@>:?7 7F;:7> :>;:>?7 J@ @ 2V.
1,. CA 5 V@>:?7 7F;:7> :>;:>?7 J@< @2V F ?7:< @>:?7@@H7 ;7J B7;7< I(O :F7 J7?@7 A
20. )D1! 5 P7 ;7>:K@ F RS232C 7 RS,#
21. P7 B 5 E>? RS232 ;7>@;7 DB2#
22. CRM2! 5 @>? F ?@?> TP ?:>@;
23. CRS1% 5 C87 ?@ ;7J>:;H7 ;7J T@;P@>?> : ISB.
Indicação do LED Descrição da falha
124
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F@ + 9 1
escriço> Juando o %E ?&erde@ no acender, a #omunicaçocom a placa principal no está sendo realizada.!ço (> #hecar o cabo de comunicaço ?fibra =tica@ entre a placa principal e a placa do painel de operador, substituir, se
necessário.!ço L> -ubstituir a placa principal ?6ain $oard@!ço *> -ubstituir a placa do ainel de 'perador.
125
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F@ + 9 1126
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F@ + 9 1 127
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F@ + 9 112#
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12Class 1 Fault
R/)3 P:> C7>7 R@:8@ E@;:; M:>@>>;@
$:@ !/1! OF@7 F>@ F:>7
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F@ + 9 1
7.# B9^(@ PC B7?
130
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F@ + 9 1
NOE">
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
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Er5ia/n4stico de %al'aclasse 1
# DIAGNÓSTICO DE FAL&AS
#.1 D,/-,9 + ?@
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P S
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#.2 C/-+ /: L,Verificação e Procedimento
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NOE">
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ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
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ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
ddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddddd
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Er5ia/n4stico de %al'aclasse 1
%!$ _ #lasses de Falhas1.Examine a condição no Teach Pendant e classifique-o.2.Verifique a causa da falha através dos passos de verificação de
falhas.
3.Examine o PIL LED, Purge LED, e ALM LED para detectar a área
da falha
4.Depois que a falha estiver corrigida, Apresentar ao instrutor.
13#
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ErFal'as de Classe
! FAL&AS DECLASSE 2
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143
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144
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ErFal'as de Classe 147
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ErFal'as de Classe 14#
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Ereri%ica6(o de Fal'as deClasse
10ERIFICAÇ%O DEFAL&AS DECLASSE 2
1. D@7?7
2. S8?> @(7 ;87
3. R@: CPU @ @;77;/
. L:JF( @: 7< ;[@< ?@ J@J: @ @;77;K/7<;:??7 ;7J @ artida da operaço dosoft9are.
W!ço (X -ubstituir o carto da #".W!ço LX -ubstituir a placa principal.
*> ! inicializaço de R!6 nocarto da #" está concluda.
W!ço (X -ubstituir o carto da #".W!ço LX -ubstituir a placa principal.
T> ! inicializaço de -R!6 e deR!6 está concluda.
W!ço (X -ubstituir o carto da #".W!ço LX -ubstituir a placa principal.W!ço *X -ubstituir o m=dulo R'6 de lampe ! inicializaço da comunicaçoD# está concluda.
W!ço (X -ubstituir a placa principal.W!ço LX -ubstituir o m=dulo R'6 de lampe ' carre:amento do soft9are básico está concludo.
W!ço (X -ubstituir a placa principal.W!ço LX -ubstituir o m=dulo R'6 de lampe artida do soft9are básico. W!ço (X -ubstituir a placa principal.W!ço LX -ubstituir o m=dulo R'6 de lampe
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_> artida da comunicaço com oterminal de pro:ramaço.
W!ço (X -ubstituir a placa principal.W!ço LX -ubstituir o m=dulo R'6 de lampe ' carre:amento do soft9areopcional está concludo. W!ço (X -ubstituir a placa principal. W!ço LX -ubstituir a placa de EB- do processo.
(1> Dnicializaço de DB'. W!ço (X -ubstituir o m=dulo -R!6.W!ço LX -ubstituir a placa principal.
((> ! preparaço do m=dulo-R!6 está concluda.
W!ço (X -ubstituir o carto de controle do eixo.W!ço LX -ubstituir a placa principal. W!ço *X -ubstituir o ser&oamplificador.
(L> Dnicializaço do carto decontrole do eixo.
W!ço (X -ubstituir o carto de controle do eixo.W!ço LX -ubstituir a placa principal. W!ço *X -ubstituir o ser&oamplificador.
(*> ! calibraço está concluda. W!ço (X -ubstituir o carto de controle do eixo.W!ço LX -ubstituir a placa principal. W!ço *X -ubstituir o ser&oamplificador.
(T> artida da aplicaço de ener:ia para o sistema ser&o.
W!ço (X -ubstituir a placa principal.
()> Execuço do pro:rama. W!ço (X -ubstituir a placa principal. W!ço LX -ubstituir a placa de EB- do processo.
(2> artida da sada DB'. W!ço (X -ubstituir a placa principal.
(> ! inicializaço está finalizada. ! inicializaço terminou normalmente.
(_> ! localizaço de defeito estáconcluda.
's %Es ( e L de condiço piscam Cuando osistema está operando normalmente.
-e a placa principal ou o m=dulo -R!6 for substitudo, o conte[do da mem=ria ?par;metros, dadosespecificados, etc.@ sero perdidos. !ntes de substituir a unidade, por este moti&o, fazer uma c=pia dese:urança dos dados. e modo similar, fazer uma c=pia de se:urança dos dados atuais Cuando substituir om=dulo R'6 de lampe
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10.2 A/, + ?@
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10.3 M/,
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10.4.1 F@ F,S- D,^
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10.4.3 F@ F,S- D,^ )FR*
Flash File -tora:e isH é um espaço na FR'6 Cuefunciona como um eCuipamento de armazenamentoindependente. Esta mem=ria no reCuer bateria paraalimentaço. +ocI pode armazenar os se:uintes arCui&os>
1. P7J<
2. V:K@:< ?@ S:
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10.4.6 P/C=
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10.4.! MF D,9 )MF*6F>é composto das mem=rias R!6 ?R@ e Flash R'6?FR@ nesta ordem, para um arCui&o especfico. 6F eliminaa necessidadde de saber o nome do eCuipaemetno Cue possui o arCui&o especificado. or exemplo>, jDR
6F>file.extj irá procurar pelo arCui&o primeiro na R>.-eno encontrar, irá procurar na FR>. a mesma forma,j#'P 6#>file.ext to 6Fj irá copiar o arCui&o para aR>.NOA uando 2oc; est %aendo bac:u*s de ar?ui2os*ara MF) 2oc; de2er escol'er entre FR) e R5). Osar?ui2os ser(o co*iados *ara o e?ui*a$etno ?ue 2oc;selecionas se$*re se R5) esti2er e$ 5RAM.
10.5 C/?,/+ P- +
C=/,9:
#onfi:urar a porta de comunicaço habilita ao controladorcomunicarse com al:uns tipos de eCuipamentos como#R/BY$, impressoras, dri&es de disCuetes, e #s. !
inicializaço da porta en&ol&e informações especficas dotipo de eCuipamento Cue será utilizado. Dsto é realizadoatra&és da tela 'R/ DND/ no /each endant.! fi:ura abaixo mostra a localizaço das portas decomunicaço
157
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10.5.1 P-6ais de Cuatro portas esto dispon&eis no controlador. +ocI poderá confi:urar as portas L a ). ! porta ( é dedicada ao /each endant.
P- P1(P5
P- N= ?> T@; F@>?>
P2 RS/232/C RS/232/C
Q@ :F7 ?@@:FJ@>7
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TP D@J7 D@:;@ 9%00 N7>@ 1 8: 0
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10.5.3 I/-?9RS(232(C
Na tela 6enus -etup /Gpe ort Dnit , &ocI poderáalterar a interface R-L*L# das se:uintes portas>
1. P7 1 P25
2. P7 2 P353. P7 3 P5' comprimento máximo do cabo de comunicaço é deaproximadamente () metros.
10.5.4 C/?,:+
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#rocedi$ento C/?,/+ P-
NOA #ara con%i/urar a *orta R"& re%ira-se
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3 P@
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P9+,=/- U/+ ,/-?9 + 9-: + ==,
C/+,: 1. V7;W :K :: J ;H7 SRAM 7J PCMCIA/ATA $?? R. 2.0c
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2 I>
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P9+,=/- C/?,/+ = ,?7 J ;H7 ?@ J@J: 7J $7FF ?:@.
P 1. P@@ $ILE.
3. P@@ S@ D@:;@.
!. M7 7 ;7 @ 7;W @
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@Formatar irá apa:ar todos os arCui&os no carto demem=ria ou disco. No realize a formataço de cartões oudiscos Cue &ocI dese
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11 $7J>?7 7 ;H7.
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10.6.2C/+ P=
P9+,=/- C/+ = 7 ?@ 7>?@ @ S@ D@:;@.. M7 7 ;7 ?@
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. E7J@ ?7 F7J @ 7;W @
;@ @ F@@.NOTA /: ,/9 -/: + ,.
i. C@>?7 7 F7J ?75
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2 P@
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1 P ?@@ J F7J J;75
. P@
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!#O 5E"CR!@O
?.$6@ !rCui&o tipo $it map. #ontem ima:ens utilizadas sistemas de&iso
?.#F@ !rCui&o de comandos. -o textos ?!-#DD@ com seCuIncias decomandos Y#% ?Yarel #omand %an:ua:e@.
?.F@ !rCui&os padro ?default@. -o arCui&os binários Cue contéminstruções padro de mo&imentaço atra&és do /
?.D'@ !rCui&os de EntradasB-adas ?DnB'ut@. -o arCui&os Cue contéma confi:uraço do DB'
?.Y%@ !rCui&os de texto ?!-#DD@ Cue contém instruções da lin:ua:emY!RE%, para serem utilizadas em pro:ramaço
?.%-@ -o arCui&os de texto ?!-#DD@ Cue contém a lista:em de um pro:rama Y!RE% e a numeraço de linha de cada uma de suasintruções. Este tipo de arCui&o também é :erado Cuando se
imprime a tela do /?.6%@ !rCui&o de modelo de partes. "tilizado para :uardar informaçosobre o modelo de partes usado em sistemas de &iso
?.#@ -o arCui&os binários Cue contém a &erso traduzida dos pro:ramas .Y% ?Y!RE%@. Estes so os pro:ramas realmentecarre:ados na mem=ria do controle e executados
?.-+@ !rCui&os de sistema. -o arCui&os binários Cue contém os&alores padro de &ariá&eis de sistema, par;metros de ser&o edados de masterizaço
?./@ ro:ramas /. -o arCui&os binários Cue contém as instruçõesdos pro:ramas do /
?./Q@ !rCui&os de texto ?!-#DD@Cue contém textos do sistema e textosdefinidos pelo usuário
?.+R@ !rCui&o de &ariá&eis. -o arCui&os binários Cue contém dosdados de &aria&ies para pro:ramas Y!RE%
10.#.2 M/,
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SELECT nome do programa / $&DELETE' $&4ES'
10.#.6 CONFIGURANDO A PORTA
MENUS / J&SETUP' $&T4PE' J&PORT INIT'#iga orientação na tela
10.#.7 SELECIONANDO O DISPOSITIO PADR%O
MENUS J&$ILES' $&UTIL' #et Device selecione o dispositivo
10.#.# FORMATANDO DISPOSITIO PADR%O
MENUS J&$ILES' $&UTIL' / format $&4ES'
10.#.! SALANDO UM PROGRAMA NO DISPOSITIOPADR%O
DISPOSITIVO DE ARMAZENAMENTO PRONTO / SELECT selecione o prog. $&SAVE' ENTER
10.#.10 ERIFICANDO O DIRETÓRIO DODISPOSITIO PADR%O
MENUS J&$ILE' $&DIR' selecione o tipo de ar$. / ENTER
10.#.11 RECUPERANDO UM PROGRAMA DODISPOSITIO PADR%O
DISPOSITIVO DE ARMAZENAMENTO PRONTO
SELECT $&LOAD' escreva o nome do prog. / ENTER
7
MENUS J&$ILE' $&DIR' selec.o prog. $&LOAD'// $&4ES'
10.#.12 CRIANDO UMA CÓPIA DO PROGRAMANA MEMÓRIA
SELECT selecione o prog. / $&COP4' escreva onome do novo prog. ENTER $&4ES'
10.#.13 IMPRIMINDO UM PROGRAMA DAMEMÓRIA
DISPOSITIVO DE IMPRESSÃO "ARDCOP4 7 ARQ. ASCII PRONTO SELECT selecione o prog.
$&PRINT' / ENTER
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10.#.14 BAC'ING UP
MENUS J&$ILES' $&BAC*UP' selec.o tipo dear$. siga orientação na tela ENTER
10.#.15 RESTORINGR)35 CONTROLE DESL PREV(NEXT LIG CON$IG.MENU 3&C7>7@? S' / MENUS J&$ILES' / $&UTIL' J&SET DEVICE' #elecione %emor& 'ard%' $CTN #elecione ()estore*+ac,up- $&RESTORE' siga orientação na tela...ao acabarF'T/ #tart 'old
R)25 CONTROLE DESL PREV(NEXT LIG / BMON$&CTRL' ENTER $&START' ENTER e0it
$&4ES' MENUS J&$ILES' / $&RESTORE' siga
orientação na tela
10.#.16 BAC'ING UP CONTROLE
R)35 CONTROLE DESL PREV(NEXT LIG CON$IG.MENU 3&C7>7@? S' MENUS J&$ILES' $&UTIL' J&SET DEVICE' #elecione %emor& 'ard%' $CTN #elecione ()estore*+ac,up- $&BAC*UP' #E!E'1/E 1# A)2341# 5A)A+A'635 13 '1/T)1!!E)...ao acabar F'T/ #tart 'old
R)25 CONTROLE DESL PREV(NEXT LIG BMON
$&CTRL' ENTER $&START' / ENTER / e0it $&4ES' $CTN J&START CTRL 2' ENTER/MENUS / J&$ILES' $&UTIL' selec.disco oumem.card $&BAC*UP' selec. 'ontroller $&CONTINUE' entre o (root name- 7 ENTER$&CONTINUE'
10.#.17 RESTORING CONTROLER)35 CONTROLE DESL $1($# LIG BOOT MONITOR C7>7@ 8;iF(@
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1 // ENTER /desl. 'ontrole lig. 'ontrole
BAC'UP COMOIMAGEM
BAC'ING UP CONTROLLER COMO IMAGEM
CONTROLADOR DESLIGADO PRESSIONAR $1 E $#LIG BOOT MONITOR SELECIONAR O ITEMbCONTROLLER BAC*UP(RESTOREc DIGITAR ONvMERO DO ITEM bBAC*UP CONTROLLER ASIMAGEc ENTER AO TERMINAR DIGITAR 1 ENTER SELECIONAR COLD START ENTER.
RESTAURAÇ%O DO BAC'UP DO CONTROLADORCOMO IMAGEMCONTROLADOR DESLIGADO PRESSIONAR $1 E $#LIG BOOT MONITOR DIGITAR O NvMERO DOITEM bRESTORE CONTROLLER AS IMAGEc ENTER AO TERMINAR DIGITAR 1 ENTER SELECIONAR COLD START ENTER.
SEQUENCIA PARARESTAURAÇ%O DACPU
CASO SE TEN"A O BAC*UP DE CONTROLE5 7 ?@ @7@
CASO SE TEN"A O SO$T-ARE DE INSTALAÇÃO fBAC*UP bALL ABOVEc5I>7 b 87@c >@7?
CASO SE TEN"A A BAC*UP bALL ABOVEc E UMOUTRO ROBÔ IGUAL5$@ J 8;i/F ?@ ;7>7@ ?7 78 : @ @ CPU MENUS SETUP MACROS / K ;7> F7J< @ F@ >@ 7?7< 7< :@><F7@7? SV
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