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DELTA_IA-ROBOT_DRAStudio_UM_SC_20230531
i
序言
本手册基于台达机器人操作软件 DRAStudio 版本 V1.00.07.55 撰写，使用软件前请先确认版本号。若所使用
之 DRAStudio 为 V1.00.07.55 以前之版本，使用前请洽台达及经销商。
安全注意事项
奇异点
SCARA 和 VA 都存在着奇异点，以下说明奇异点的发生时机以及避免方式。
SCARA 奇异点 VA 奇异点
奇异点发生时机：
移动过程中 J2 = 0°，使 J1 轴和 J2 轴呈一直线。
此时 J2 轴会停住无法移动。
避免方式：
◼ 让 J2 移动 ±5° ~ 15°
◼ 增加过渡点，避免 J2 角度为 0°
◼ 使用 MovP 指令
腕关节奇异点 (Wrist Singularity) 发生时机：
移动过程中 J5 = 0°，使 J4 轴和 J6 轴呈一直线。
此时 J4 轴会瞬间快速旋转，需注意 J4 轴上的线材
会因此被拉扯。
避免方式：
◼ 让 J5 移动 ±5° ~ 15°
◼ 增加过渡点，避免让 J4 轴和 J6 轴呈一直线
◼ 使用 MovP 指令
ii
其他注意事项
语法定义
项目 说明
大小写区分 机器人语言区分大小写，a 和 A 不一样。
分隔语句
机器人语言语句之间可以用逗号「,」隔开，也可以用空白隔开，例如：a1=0 a2=1
a3=2 相当于 a1, a2, a3 = 0, 1, 2。
变数个数大於值的个数时 按变数个数补足 nil，例如：a1, a2, a3 = 0, 1，则 a3 的值等于 nil。
变数个数小於值的个数时 多余的值会被忽略，例如：a1, a2 = 0, 1, 2，则 2 会被忽略。
变量宣告
在机器人语言中，没有特别加上 local 宣告为局部变量 (Local Variable) 的变量，都是全局变量 (Global
Variable)。如下范例所示。
a=1 --将变数 a 设为全局变量
if a == 1 then
local b = 2 --将变数 b 设为局部变量
end
if b == 2 then --此处 b 的值会为 nil，所以不会进入此判断式
c = 1
end
Keywords 保留字
台达机器人语言的关键词有区分大小写，如 and 和 AND 并不相同。
以下关键词不可当作变量命名宣告来使用，在变量命名的时候必须特别注意：
and global or until
boolean goto P while
break if p 所有指令名称
do in repeat
else local return
elseif nil string
end not table
false number then
for OFF thread
function ON true
目录
软件介绍
1.1 软件需求·······································································································1-2
1.2 画面说明·······································································································1-3
1.3 快捷页面·······································································································1-4
1.3.1 登入权限 ································································································1-5
1.3.2 机器人型号选择 ·······················································································1-7
1.3.3 联机 ······································································································1-9
1.3.4 伺服控制 ······························································································1-10
1.3.5 TP 状态································································································1-10
1.3.6 操作模式 ······························································································1-11
1.3.7 异常警报 ······························································································1-12
1.3.8 异常重置 ······························································································1-13
1.3.9 手册文件夹 ···························································································1-13
1.3.10 速度操控 ······························································································1-13
1.3.11 辅助页面开关 ························································································1-14
1.4 主页面 ·······································································································1-15
1.5 辅助页面·····································································································1-17
1.5.1 输出 ····································································································1-18
1.5.2 警报 ····································································································1-18
1.5.3 专案 ····································································································1-19
1.5.4 点位 ····································································································1-19
1.5.5 工作空间 ······························································································1-20
1.5.6 寸动 ····································································································1-20
1.5.7 功能 ····································································································1-21
1.5.8 状态 ····································································································1-22
1.5.9 外部轴 ·································································································1-22
1.5.10 机械语言 ······························································································1-23
1.5.11 IO ·······································································································1-24
1
寸动
2.1 画面说明·······································································································2-2
2.2 速度操控·······································································································2-3
2.3 模式选择·······································································································2-4
2.3.1 轴坐标模式 ·····························································································2-5
2.3.2 大地坐标模式 ··························································································2-7
2.3.3 使用者坐标模式 ·······················································································2-9
2.3.4 工具坐标模式 ························································································2-11
2.4 方向设定·····································································································2-14
2.5 寸动辅助页面·······························································································2-16
2.5.1 设定区块 ······························································································2-17
2.5.2 姿态区块 ······························································································2-18
2.5.3 操作区块 ······························································································2-22
项目 (项目管理)
3.1 画面说明·······································································································3-2
3.2 建立项目·······································································································3-4
3.3 开启项目·······································································································3-5
3.3.1 电脑端开启······························································································3-5
3.3.2 控制器端开启···························································································3-7
3.4 关闭项目·······································································································3-8
3.5 项目管理·······································································································3-9
3.5.1 电脑端项目······························································································3-9
3.5.2 控制器端项目·························································································3-11
3.6 上传项目·····································································································3-12
3.7 下载项目·····································································································3-13
3.8 User Library ································································································3-14
点位 (点位管理)
4.1 画面说明4-2
4.2 教点 47
4.2.1 教点功能区块说明 ····················································································4-7
4.2.2 教点操作步骤 ··························································································4-8
4.2.3 位移操作步骤 ························································································4-11
4.2.4 提升动作操作步骤 ··················································································4-13
4.2.5 档案操作步骤 ························································································4-14
4
2
3
4.2.6 轴旋转模式操作步骤 ···············································································4-15
4.3 点位信息·····································································································4-16
4.3.1 JRC 说明······························································································4-17
4.3.2 JRC_Active (轴旋转模式) ·········································································4-18
4.4 区域点位·····································································································4-23
4.5 全局点位·····································································································4-23
4.6 使用者坐标··································································································4-24
4.6.1 使用者坐标教导步骤 ···············································································4-26
4.7 工具坐标·····································································································4-29
4.7.1 教导工具尺寸 ························································································4-32
4.7.2 工具尺寸教导步骤 ··················································································4-34
4.7.3 教导工具坐标方向 ··················································································4-38
4.7.4 工具坐标方向教导步骤 ············································································4-40
4.8 工作空间·····································································································4-43
4.8.1 矩形体教导步骤 ·····················································································4-46
4.8.2 圆柱体教导步骤 ·····················································································4-51
脚本
5.1 功能列 ·········································································································5-3
5.1.1 编译 ······································································································5-4
5.1.2 批注 ······································································································5-5
5.1.3 取消批注 ································································································5-5
5.1.4 搜寻/取代 ·······························································································5-6
5.1.5 快速教点 ································································································5-7
5.2 脚本编辑·······································································································5-8
5.2.1 脚本除错 5-8
5.2.2 变数监看 ································································································5-9
5.3 辅助快捷键··································································································5-10
5.4 输出 ··········································································································5-11
IO (IO 控制)
6.1 系统 IO (System DI / DO) 6-2
6.1.1 System DI 系统输入6-5
6.1.2 System DO 系统输出 6-9
6.2 用户 IO (User DI / DO)611
6.3 外挂 IO (外部输入输出) 614
6.4 MonitorAddress 映射内存地址616
6
5
复归
7.1 回原点 ·········································································································7-2
7.2 Z index·········································································································7-4
7.3 挡点复归·······································································································7-5
7.3.1 J4、J6 轴 ·······························································································7-6
7.3.2 挡点复归姿态 ··························································································7-7
手臂
8.1 极限·············································································································8-2
8.2 负载·············································································································8-4
8.2.1 负重设定·································································································8-4
8.2.2 距离设定·································································································8-5
8.2.3 惯量设定·································································································8-6
8.2.4 惯量计算·································································································8-7
8.3 手拉&碰撞·····································································································8-8
8.3.1 碰撞设定·································································································8-8
8.4 Gravity (重力形变) ························································································8-10
8.4.1 重力形变参数说明 ····················································································8-11
8.4.2 重力形变操作步骤 ····················································································8-12
信息 (机器人信息)
9.1 信息 ············································································································9-2
9.2 温度信息·······································································································9-3
9.3 控制器信息····································································································9-4
9.4 警报历史·······································································································9-5
9.5 关于 ············································································································9-5
9.6 RL User Log··································································································9-6
9.6.1 RL User Log 指令介绍···············································································9-6
9.6.2 RL User Log 操作步骤···············································································9-7
7
8
9
系统 (系统管理)
10.1 乙太网络 IP (以太网络 IP)···············································································10-2
10.2 RS232/485··································································································10-3
10.3 语言 ··········································································································10-6
10.4 备份 ··········································································································10-6
10.5 复原 ··········································································································10-7
10.6 选项 ··········································································································10-7
凭证
11.1 DRAStudio··································································································11-2
11.2 DCS/DCV ···································································································11-5
11.3 Registration·································································································11-7
服务
12.1 服务 ··········································································································12-2
外部轴
13.1 外部输入输出·······························································································13-2
13.1.1 接口操作说明 ························································································13-3
13.1.2 脚本中操作说明 ·····················································································13-4
13.2 外部轴 ·······································································································13-5
13.2.1 接口操作说明 ························································································13-5
13.2.2 脚本中操作说明 ·····················································································13-9
台
A.1 数据搜寻方式································································································A-2
A.2 RL 功能性暂停方式 ························································································A-4
A.2.1 SafetyMode 设定功能性暂停状态································································A-4
A.2.2 SafetyStatus 读取功能性暂停状态·······························································A-7
A.3 专有名词表···································································································A-8
11
12
附录
10
A
13
(此页有意留为空白)
1-1
软件介绍
本章节提供 DRAStudio 软件的相关说明，如软件简介及使用方法等。
1.1 软件需求 ··························································································1-2
1.2 画面说明 ··························································································1-3
1.3 快捷页面 ··························································································1-4
1.3.1 登入权限····················································································1-5
1.3.2 机器人型号选择 ···········································································1-7
1.3.3 联机 ························································································1-9
1.3.4 伺服控制·················································································· 1-10
1.3.5 TP 状态 ··················································································· 1-10
1.3.6 操作模式·················································································· 1-11
1.3.7 异常警报·················································································· 1-12
1.3.8 异常重置·················································································· 1-13
1.3.9 手册文件夹··············································································· 1-13
1.3.10 速度操控·················································································· 1-13
1.3.11 辅助页面开关············································································ 1-14
1.4 主页面 ··························································································· 1-15
1.5 辅助页面 ························································································ 1-17
1.5.1 输出 ······················································································ 1-18
1.5.2 警报 ······················································································ 1-18
1.5.3 专案 119
1.5.4 点位 119
1.5.5 工作空间 1-20
1.5.6 寸动 1-20
1.5.7 功能 1-21
1.5.8 状态 1-22
1.5.9 外部轴 1-22
1.5.10 机械语言 1-23
1.5.11 IO 1-24
1
软件介绍 DRAStudio 软件使用手册
1-2
1
DRAStudio (Delta Robotic Automation Studio) 为台达机器人的操作软件，同时适用于 DRS 与
DRV 两个系列产品。本章节将针对此软件进行介绍。
DRAStudio 软件可至台达电子官方网站下载，请参考附录 A.1 数据搜寻方式。
1.1 软件需求
基本规格
操作系统 Windows XP SP3, Windows 7, Windows10
中央处理器 Intel Core 2 Duo 2GHz 以上
内存 2GB 以上
可用硬盘空间 1GB 以上
执行框架 .NET Framework 4.0
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1.2 画面说明
软件操作画面分为三个区域：
快捷页面：可快速查看机器人之状态及操作功能的快捷键，如异常警报、异常重置等等。
主页面：软件主要操作的区域，如项目管理、程序编辑、点位管理等等。
辅助页面：辅助用户操作机器人，如寸动、输出等等。
快捷页面
主页面
辅助页面
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1.3 快捷页面
快捷页面位于软件画面上方，主要是让用户可以快速的察看机器人目前的状态及控制。
快捷键图示 名称 能否透过 DRAStudio 控制
登入权限 ✓
机器人型号选择 ✓
联机 ✓
伺服控制 ✓
TP 状态 -
操作模式 -
异常警报 异常时可点击查看，但不可控制
异常重置 ✓
手册文件夹 ✓
速度操控 ✓
辅助页面开关 ✓
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1.3.1 登入权限
为了保护操作机器人的人员安全，软件开启后只显示主页，用户可透过主页左上方「Login」(登
入权限) 按钮，登入操作权限。
登入权限分为三种，权限密码及可控制页面如下：
操作权限 密码 说明
作业人员 0000 可选择项目，并控制项目执行或停止。
操作人员 1111
除了作业人员权限范围，还可控制项目开发、编辑程序、操作机器人
等功能。
工程人员 2222
除了操作人员权限范围，还可控制机器人参数调整和设定等功能，为
最高权限的使用者。
页面 作业人员 操作人员 工程人员
快捷页面
登入权限 ✓ ✓ ✓
机器人型号选择 ✓ ✓ ✓
联机 ✓ ✓ ✓
伺服控制 ✓ ✓ ✓
TP 状态 ✓ ✓ ✓
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页面 作业人员 操作人员 工程人员
快捷页面
操作模式 ✓ ✓ ✓
异常警报 ✓ ✓ ✓
异常重置 ✓ ✓ ✓
手册文件夹 ✓ ✓ ✓
速度操控 ✓ ✓ ✓
辅助页面开关 ✓ ✓ ✓
主页面
主页 ✓ ✓ ✓
伺服 ✓ ✓ ✓
执行 ✓ ✓ ✓
项目 - ✓ ✓
点位 - ✓ ✓
脚本 - ✓ ✓
IO - ✓ ✓
寸动 - ✓ ✓
复归 - - ✓
手臂 - - ✓
信息 ✓ ✓ ✓
系统 - - ✓
示波器
注：目前未开放。
- - ✓
凭证 - - ✓
服务 ✓ ✓ ✓
外部轴 - ✓ ✓
输送带追随操作 - - ✓
锁螺丝机 - - ✓
Gerber - - ✓
辅助页面
输出 ✓ ✓ ✓
警报 ✓ ✓ ✓
专案 - ✓ ✓
点位 - ✓ ✓
工作空间 - ✓ ✓
寸动 - ✓ ✓
功能 - ✓ ✓
状态 - ✓ ✓
外部轴 - - ✓
机械语言 - ✓ ✓
✓ 有权限 - 无权限
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1.3.2 机器人型号选择
(机器人型号选择) 按钮会依连接的机器人种类显示 SCARA、VA，或 RS-AFS。
SCARA：DRS 系列，分别为三轴、四轴，及五轴机器人。
VA：DRV 系列，六轴机器人。
RS-AFS：锁螺丝机器人。
机器人选型方法如下：
点击 (机器人型号选择) 按钮后，会出现选择机器人型号的页面。
手动选型
请依照机器人机身铭牌上所标示的 MODEL 编号，来选择型号。
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此页面共有五个下拉式选单可以选择。
项目 下拉式选单名称 说明
1 Series 机器人系列
2 Arm length 机器人臂长
3 Type 机器人类型
4 Payload 机器人最大负载
5 DOF 机器人自由度
自动选型
勾选「Function enable when connected」以开启自动选型功能。功能开启后，上方选型的选单
即反灰。
1 2 3 4 5
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1.3.3 联机
点击 (联机) 按钮后，会出现联机的页面。台达机器人与软件联机的通讯接口目前有两种：
Ethernet：
以太网络联机，使用 RJ45 的线，让机器人与操作的计算机联机；此时可透过软件操作机
器人。
USB1：
USB 联机，使用 USB Type B 的线，让机器人与操作的计算机联机；此时仅能透过软件确
认机器人控制器的 IP 地址。
在「IP」字段*注 中，输入机器人的 IP 地址，默认为 192.168.1.1。
注：与机器人联机的计算机，需与机器人在同一个网域，所以在与新机联机时，计算机 IP 需设为
192.168.1.XX。
点击「联机」后，软件与机器人会建立联机。
图示 说明
未建立联机
建立联机
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1.3.4 伺服控制
在快捷页面中，可以点击 (伺服控制) 按钮，快速控制各轴伺服的 ON、OFF。需在伺服启
动状态，方可操作机器人、使机器人运动。
图示 说明
伺服关闭状态，点击以启动
伺服启动状态，点击以关闭
1.3.5 TP 状态
台达机器人各机种有各自专用的 TP (Teach Pendant) 教导器。快捷页面的 (TP 状态) 图
标，会显示是否为 TP 控制。
DRAStudio 只能显示 TP 状态，无法进行切换。TP 控制权必须在 TP 上才能切换，当 TP 拥有控
制权时，DRAStudio 软件无法操作机器人，如寸动、项目运行。
图示 说明
控制权为 DRAStudio
控制权为 TP
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1.3.6 操作模式
机器人操作模式分为 T1、T2，及 Auto*注。DRAStudio 只能显示操作模式，无法进行切换，必须
由 Sys DI4、DI5 的讯号来控制，详情请参阅「台达电子 SCARA 机器人控制器使用者手册」及
「台达电子垂直多关节机器人控制器使用者手册」。
注：控制器有 CE 认证的机器人仅支持 T1 及 Auto 模式。
图示 模式 寸动操作 专案运行 最高速度
T1 模式
TP：可操作
DRAStudio：可操作
仅能在编辑模式运行 TCP 线速度：
< 225 mm/sec
T2 模式
TP：可操作
DRAStudio：可操作
仅能在编辑模式运行 100%
Auto 模式
TP：不可操作
DRAStudio：可操作
可透过系统 IO 运行 100%
T1 (测试模式一)
此模式为教导点位时使用，仅能在低速下操作机器人。
寸动移动速度
工具中心点的线速度被限制在 225 mm/sec 以下。
项目运行移动速度
当项目中的设定移动速度高于 225 mm/sec 时，会限制在 225 mm/sec。
例如：程序设定速度为 500 mm/sec 时，实际移动速度为 225 mm/sec。
功能性暂停 (Sys DI2)
在 T1 模式时，不论 Sys DI2 的讯号为 ON 或 OFF，都不会触发功能性暂停。
T2 (测试模式二)
此模式为测试项目程序时使用，可在高速下操作机器人。
寸动移动速度
工具中心点的线速度被限制在 225 mm/sec 以下。
项目运行移动速度
依机种的最高速度移动。
功能性暂停 (Sys DI2)
当 Sys DI2 的讯号为 OFF 时，会触发功能性暂停；此时需要 Sys DI2 及 DI3 均为 ON，才
可解除警报。
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Auto (自动模式)
寸动移动速度
工具中心点的线速度被限制在 225 mm/sec 以下。
寸动功能在 Auto 模式时，仅能在 DRAStudio 软件操作，无法在 TP 操作。
项目运行移动速度
依机种的最高速度移动。
功能性暂停 (Sys DI2)
当 Sys DI2 的讯号为 OFF 时，会触发功能性暂停；此时需要 Sys DI2 及 DI3 均为 ON，才
可解除警报。
1.3.7 异常警报
当异常或警告发生时，点击快捷页面上的 (异常警报) 图示，可快速查看机器人状态及异常或
警告讯息。
图示 状态 说明
未发生异常 当异常未发生时，图示为反灰的状态，无法点击。
发生异常
当异常发生时，图示会闪红灯，此时可以点击图标显示目前异常
讯息，并点击「重置警报」或快捷页面的 (异常重置) 按钮，
以快速重置异常。
发生警告
当警告发生时，图示会闪黄灯，此时可以点击图标显示目前警告
讯息，但无法点击「重置警报」或快捷页面的 (异常重置) 按
钮，需依照警告讯息处置。
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1.3.8 异常重置
当异常发生时，点击快捷页面的 (异常重置) 按钮，可快速重置异常。当操作权为 TP 时，
发生异常时仅能在 TP 重置异常，无法在 DRAStudio 进行重置。
图示 说明
未发生异常，无法重置
发生异常，可点击以重置
1.3.9 手册文件夹
点击快捷页面的 (Manual) 按钮，可开启台达机器人的手册文件夹 (如下图)。
1.3.10 速度操控
详细说明请见 2.2 节 速度操控。
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1.3.11 辅助页面开关
点击 (辅助页面开关)，可快速开启及关闭辅助页面。
开启辅助页面
关闭辅助页面
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1.4 主页面
主页面为软件主要操作的画面，点击主页面左侧选单中的各个分页，即可操作机器人各个功能。
选单中的各个分页功能，将于后续的章节介绍。
选单分页图示 说明 备注
回到主页 -
伺服控制 -
执行项目 -
项目管理 -
点位管理 -
脚本编辑 -
I/O 控制 -
寸动控制 -
复归原点 -
机器人设定 -
机器人信息 -
系统管理 -
主页面选单
DRAStudio 版本及
发布日期
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选单分页图示 说明 备注
示波器 目前未开放。
凭证管理 -
用户讯息回馈 -
外部轴控制 -
输送带追随操作 -
锁螺丝机操作 开启此分页需要凭证。
Gerber 操作 开启此分页需要凭证。
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1.5 辅助页面
点击 (辅助页面开关)，会在软件画面的右边显示辅助页面，可辅助操作机器人各个功能。
辅助页面的页签说明如下：
页签图示 说明
控制器信息查看
异常警报信息
项目储存空间信息
点位信息操作
工作空间状态
寸动操作
Modbus 读/写
机器人状态显示
外部轴控制
机器人语言快捷键
IO 状态查看及 User DI/DO 控制
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1.5.1 输出
在辅助页面的「输出」页签中，可查看 DRAStudio 读取机器人控制器的内容信息。
1.5.2 警报
在辅助页面的「警报」页签中，可查看机器人控制器目前发生的异常信息，以及处置方式。
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1.5.3 专案
于主页面更新控制器端的项目列表后，即可在辅助页面的「项目」页签中，查看控制器的项目信
息。
1. 在左边主页面选单中，点击「项目」。
2. 对「Controller」(控制器) 文件夹点击右键，并点击「Update」。
3. 即可在右边的「专案」辅助页面中，查看控制器中的项目名称、大小及修改日期。
1.5.4 点位
在辅助页面的「点位」页签中，可快速修改主页面中「点位」页面的点位信息。
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1.5.5 工作空间
在辅助页面的「工作空间」页签中，可查看系统目前的工作空间状态。仅有已开启的工作空间，
才会显示在此页签中。
1.5.6 寸动
在辅助页面的「寸动」页签中，可快速选择机器人的坐标模式、用户坐标编号 (UF) 及工具坐标
编号 (TF)，并操作机器人移动。
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1.5.7 功能
在辅助页面的「功能」页签中，可使用 Modbus 读写的功能。勾选指定的项目、输入指定的地
址，并选择 Word Size，即可点击「写入」以将数值写入控制器中，或「读出」以读取控制器中
的数值。
「功能」页签中，包含三个小页签：
小页签 Modbus 区域 说明
Modbus 只读 0x0000~0x0FFF
内部存储器的参数。仅可在「Modbus 只读」小页签
读取数值，无法写入。
Modbus 读/写 0x1000~0x1FFF
断电不保持区的参数。可在「Modbus 读/写」小页签
读取及写入数值；此内存地址在断电后，数值会清空
为 0。
Modbus 断电保持 0x3000~0x3FFF
断电保持区的参数。可在「Modbus 断电保持」小页
签读取及写入数值；此内存地址在断电后，数值将持
续保持。
当 Word Size 为 W 时，一个数值占一个地址，如 0、1、2…；当 Word Size 为 DW 时，一个数
值占两个地址，如 0、2、4…。
Word Size 范围
W -32,767 ~ +32,767
DW -2,147,483,648 ~ +2,147,483,647
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1.5.8 状态
在辅助页面的「状态」页签中，可查看机器人各项功能是否开启。点击「更新」，以更新系统的
状态。
1.5.9 外部轴
当控制器有连接外部轴时，请先在主页面的「外部轴」页面中，点击「扫描」，系统会扫描所有
的外部轴。扫描成功后，即可在右边辅助页面的「外部轴」页签操作控制外部轴。
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1.5.10 机械语言
在辅助页面的「机械语言」页签中，可透过 RL (台达机器人语言) 指令快捷键，快速输入 RL 指
令至程序中。开启 DRAStudio 时，此页签预设为关闭，需在主页面开启「程序」后才会显示。
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1.5.11 IO
在辅助页面的「IO」页签中，可查看系统 IO 及用户 IO 的状态。
勾选「IO Simulate」功能后，即可在此开启或关闭 User DI 的讯号。
2-1
寸动
DRAStudio 软件的寸动功能，是可操作机器人的方式之一，本节将详细介绍此功能以及
细部的设定。
注意：机器人运行时，请避开奇异点，详细说明请见序言的安全注意事项。
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2.1 画面说明 ··························································································2-2
2.2 速度操控 ··························································································2-3
2.3 模式选择 ··························································································2-4
2.3.1 轴坐标模式 ·················································································2-5
2.3.2 大地坐标模式 ··············································································2-7
2.3.3 使用者坐标模式 ···········································································2-9
2.3.4 工具坐标模式 ············································································2-11
2.4 方向设定 ························································································ 2-14
2.5 寸动辅助页面 ·················································································· 2-16
2.5.1 设定区块 ·················································································· 2-17
2.5.2 姿态区块 ·················································································· 2-18
2.5.3 操作区块 ·················································································· 2-22
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2.1 画面说明
登入 DRAStudio 后，在左方选单中点击「 寸动」开启寸动分页。再点击 (辅助页面开
关) 并开启「寸动」辅助页面。
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2.2 速度操控
速度操控功能位于快捷页面右方 (下图红框)。拖拉滑杆以进行 1% ~ 100%的速度调整，此调整会
影响机器人寸动及项目运行的速度。
注意：
若机器人控制器的韧体为 V7X02_005 (含) 以前之版本，则不支持速度操控的功能，图标如下：
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2.3 模式选择
模式选择用于切换当前操作的坐标系。四种模式分别为「轴」、「大地」、「使用者」，及「工
具」，用户根据不同应用情境，选择合适的模式来进行机器人操作。
若将模式切换到「使用者」或「工具」，可指定使用者坐标系编号 (UF) 以及工具坐标系编号
(TF)。
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2.3.1 轴坐标模式
轴坐标模式主要是操作机器人各个关节的位置。将模式切换至「轴」，如果联机的机型为标准
SCARA 水平关节机器人，可各别控制 J1 ~ J4 轴；若为 VA 垂直多关节机器人，则可以控制 J1 ~
J6 轴。
SCARA 各轴方向 VA 各轴方向
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或开启「寸动」辅助页面，将模式选择「轴」。此时辅助页面中默认的显示单位为 deg，也可以
切换为 puu*注。下图以 VA 操作接口为例。
注：PUU 用户单位 (Pulse of User Unit)，为一个经过电子齿轮比转换后的单位。
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2.3.2 大地坐标模式
大地坐标模式是主要参考的基准坐标系，此坐标系为系统默认设置，无法变更。将模式切换至
「大地」后，使用者坐标及工具坐标系编号会自动切为 0，且无法修改。
SCARA 大地坐标方向 VA 大地坐标方向
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或开启「寸动」辅助页面，将模式选择「大地」。
SCARA「吋动」辅助页面 VA「吋动」辅助页面
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2.3.3 使用者坐标模式
使用者坐标系可自定义在空间上任一位置，例如工件或是工作台。
SCARA 使用者坐标方向 VA 使用者坐标方向
⚫ 预设的使用者坐标系为 User Frame 0 (UF0)，其坐标方向和大地坐标系相同，请见 2.3.2
节。
⚫ 将使用者坐标系定义完成后，机器人就可以根据此坐标系的坐标方向移动，坐标系可以是平
面或斜面。详细的使用者坐标设定，请参考 4.5 节 使用者坐标。
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将模式切换至「使用者」。在使用者坐标模式下，能将使用者坐标系和工具坐标系编号指定为已
建立好的编号*注；两者预设皆为 0。
或开启「寸动」辅助页面，模式选择「使用者」，并视需求将「UF」和「TF」指定为已建立好
的编号*注。下图以 VA 操作接口为例。
注：在选择使用者或工具坐标系编号前，必须先建立对应的坐标系。若所选的坐标系编号尚未建立，将无法
成功切换坐标系，且会跳异警 E1.82A 或 E1.82B。
项目 内容
E1.82A 使用者坐标系切换错误
E1.82B 工具坐标系切换错误
Result1 使用者 / 工具坐标系切换错误
Solve
请检查所指定的坐标系编号是否介于 0 ~ 9 之间。若没有，请填入正确的坐标系
编号，异警重置清除。
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2.3.4 工具坐标模式
SCARA 工具坐标预设方向 VA 工具坐标预设方向
⚫ 切换为工具坐标模式时，机器人会以当前工具坐标的朝向进行移动。如下图所示，当末端轴
旋转时，工具坐标系也会跟着旋转。
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⚫ 当机器人没有装设工具时，由法兰面末端点所构成的坐标系为「预设工具坐标 Tool Frame
0 (TF0)」。
⚫ 装设工具后，若将法兰面末端点重新定义到工具上，称为「工具中心点 (Tool Center
Point，TCP)」。该 TCP 参考大地坐标系进行坐标系相对转换后，所构成的新工具坐标系称
为「工具坐标 n (Tool Frame n (XTFn、YTFn、ZTFn))」。
X
Y
n
YTFn
XTFn
工具座标 n
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将模式切换至「工具」。在工具坐标模式下，能将使用者坐标系和工具坐标系编号指定为已建立
好的编号*注，以进行机器人移动；两者预设皆为 0。
或开启「寸动」辅助页面，将模式选择「工具」，并视需求将「UF」和「TF」指定为已建立好
的编号*注。
SCARA「吋动」辅助页面 VA「吋动」辅助页面
注：在选择使用者或工具坐标系编号前，必须先建立对应的坐标系。若所选的坐标系编号尚未建立，将无法
成功切换坐标系，且会跳异警 E1.82A 或 E1.82B。
项目 内容
E1.82A 使用者坐标系切换错误
E1.82B 工具坐标系切换错误
Result1 使用者 / 工具坐标系切换错误
Solve
请检查所指定的坐标系编号是否介于 0 ~ 9 之间。若没有，请填入正确的坐标系
编号，异警重置清除。
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2.4 方向设定
当操作人员在机器人旁边时，可透过方向设定，协助操作人员了解机器人移动的方向。共有 A、
B、C、D 四个方向设定：
C
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依操作人员相对于机器人的位置进行设定后，在「寸动」辅助页面的操作区块，X、Y 方向会做
相对应的调整。
若将方向设为 A：
若将方向设为 C：
A
B
C
D
A
B
C
D
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2.5 寸动辅助页面
点开 (辅助页面开关) 后，开启「寸动」页签。操作人员可透过此页签进行机器人的移动、取
得位置相关信息，以及各种模式的切换。
项目 名称 说明
1 设定区块
提供坐标模式切换、坐标系编号切换，及距离设定。详细说明请见
2.5.1 节。
2 姿态区块 显示机器人当前姿态。详细说明请见 2.5.2 节。
3 操作区块
显示机器人当前位置，以及各轴方向操作按钮。详细说明请见
2.5.3 节。
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2.5.1 设定区块
项目 名称 说明
1
模式
(坐标模式)
⚫ 轴：若为 SCARA，可以控制 J1 ~ J4 轴；若为 VA，可以控
制 J1 ~ J6 轴。
在此坐标模式下，提供 deg 或 puu 单位切换。
⚫ 大地：此模式之工具坐标系及使用者坐标系编号皆为 0。
⚫ 使用者：机器人以使用者坐标系进行移动。
⚫ 工具：机器人以工具坐标系进行移动。
2 距离 可选择以连续或非连续的方式进行移动。详细距离设定说明如下。
3 UF (使用者坐标系编号) 设定范围为 0 ~ 9，预设为 0。
4 TF (工具坐标系编号) 设定范围为 0 ~ 9，预设为 0。
距离设定说明
勾选「连续」以使用连续的方式进行移动；不勾选「连续」时，代表为非连续方式移动。
选择「轴」坐标模式时，距离单位为「度」或「PUU」；选择「大地」、「使用者」，或「工
具」坐标模式时，距离单位则为「毫米/度」。
⚫ 连续：只要机器人在工作范围内，将不限制每次移动距离。如下图，显示「Max」表示无须
设定距离。
轴坐标模式 大地 / 使用者 / 工具坐标模式
⚫ 非连续：限制每次移动的最大距离。预设为 1，设定范围为 0.001 ~ 20，可点选 及 进
行调整，也可直接输入数值。当超过最大范围时，会自动设定为最高上限值；反之则会自动
设定为最低下限值。
轴坐标模式 大地 / 使用者 / 工具坐标模式
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