1. Yaskawa hardware composition: MOTOMAN series products, including SK120, sK6, sV3 and UP6 four models. The four types of robots are composed of two parts: the robot body and the control cabinet.

Yaskawa robot body is equipped with mechanical devices such as servo motor, transmission mechanism and deceleration mechanism. These types of robots have six-axis joints, consisting of six servo motors and six sets of transmission mechanisms. The names of the six axes are S, L, U, R, B, and T. The S axis controls the back and forth rotation of the entire body, the L axis controls the front and rear swing of the lower arm of the robot, the U axis controls the up and down swing of the upper arm of the robot, and the R axis Control the back and forth rotation of the upper arm, the B axis controls the up and down swing of the robot wrist, and the I axis controls the back and forth rotation of the wrist. The joint movement of the six motors can make the robot run to any spatial position within its working range.

Yaskawa robot control cabinet is equipped with all control devices, reproduction operation box and teaching disk. The control device includes main computer (CPU unit), servo motor driver, various external signal input and output boards, power supply unit, etc. The rated input of this series of robot power supply is AC220V 50/60HZ three-phase power supply, and it must be equipped with a power transformer when used in China. The reproduction operation box is equipped with various operation buttons, indicator lights and communication ports and other devices. There is a liquid crystal display and various operation buttons on the teaching panel, which are mainly used for writing programs, operating robots and observing their working conditions.

2. Working method of Yaskawa robot: The working method of the robot is the teaching reproduction type, that is, the operator operates the robot to complete all the predetermined actions. The robot records the coordinates of each position point it has passed and then automatically runs according to the teaching Position and speed complete all actions.

There are five coordinate systems when the robot moves: joint coordinate system, rectangular coordinate system, cylindrical coordinate system, tool coordinate system and user coordinate system. The movement mode of the robot in the joint coordinate system is that each axis moves independently without affecting each other; in the Cartesian coordinate system, the robot moves in parallel with the X, Y, and Z directions of the body axis; in the cylindrical coordinate system, the robot moves in parallel with the body axis Z axis. Center rotation, right angle or parallel movement; in the tool coordinate system, the robot moves in parallel with the x, y, axes of the tool’s maximum point; in the user coordinate system, the user can arbitrarily set the x of different angles within the working range of the robot , Y, Z axis, the robot can extend the parallel movement of each axis.