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D 2/7-< $ %/&) $ S 6 " 2/7-< C ( " 1 ( ( " " # )M % <!7- 9 !7 )- 8 ;D !7 4 ) O) ' " O) ( " " > O " O K # !22) 9<!7- 9 !7 %, 8 ; &2,/0 8; =# 9!! !22) 9<!7- 9 !7 %, 8 ; &9!! 8; 9!! 6.2 Lenguaje de programación Karel 3 " 4 " M =G 6.3 Software FANUC ( $ .%: ; )1 )+ 1 2/7&<Q I 5 =- " * * " 2/7&<Q I 5 5 " " =5 W 2/7&< 2/7&<Q I " * % 3 • * * " Q ) Q W I • " > =" > =. ) -B2 -Q . %/,/)! - )9 % /< ) @-/2) @,0 2* " " =. * " 4 > "6 ) W 2/7&< ? "9 /,< 9 ) 9 % 9 ) "9 5 • @ • • • • > " • • @ ! 0 % " =- = 0 • • • • • • 1 *% % @ 0 )Q W 79' GGG( E 0 1 ,/0 E .1 <- ,!0 9 4 %< 5 !%. % • HA0 " < ',$P= ( % / ) ( " 5 5 < ,$P= ,$P= ) 5 G1 9 ',$P=( GG1 9 ,$P= ,$P= " : ; ? "Q I W ,P= %< % "* ,P= ? "Q I " 5 4 ,$P= %< ? "Q %< 3 " I " W " 2/7&< ,$P= < " %< " " 4 " % 3 • * • ,+ " . " * " %@ += > ? "% " & " > A > "* 4 • % * 1 3 %< % " " > 1 += " > = • B 9 " %@ A< " & * • ! 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" % 9% % : ,*%M' =$- 5 • " </- =$- </" " 4 AH • " • 5 " #" </- "* &** • "* 4 • XQ I < Q Y $ 4 • )5 4 5 • * • _ 4 ' * ' )%!9( ( X Y • • 7 < 0 0 5 1 *% 0> • • • • • • • . ) -B2 @,0 </- 4 % HH 0 5 HA0 1 ,/0 C0 1 ,/0 3 </EG0 1 0 ` Q W 0 ` A3 - $& 7 W I " Q ! %<# =$- 7 0 % 5 ,/0 GGG 79A G Q W KE KC P @ 0 5 @./ 'HAG3ACG( EH$ AJ 7 APLICACIONES 7.1 Carga y descarga de maquinas 4 * * " > " 3 # 4 " & 4 " 4 3 " * "6 " * " " * " " * * 4 * " > 4 4 * " " 7.2 Paletizaje , 4 0 $A G /Q Q 4 " 2/7&< 4 " M-410 AWW AC 7.3 Pick and Place < $ 2/7&< Ia 4 7.4 Ensamblaje , 0 J G !/- &7 !/4 M 710i LOAD/UNLOAD AK 7.5 Colado / sellado % 4 " 7.6 Pintura/recubrimiento -( 1 + > * " " "> 4 ) * " ># $0 $0 4 4 4 "> " EG P200 PAINT 7.7 Soldadura por arco continua > " " 5 GG =GG ArcMate 100iT-120iT-120iLT E 7.8 Soldadura por puntos < " 5 " 6 S2000 E 8 SEGURIDADES 8.1 Paros de emergencia / O O " * $% " $% " =$ % < 3 " % ! * " 3 " >? 3 W ')!%( 9 5% '9%( " ,$P= E= < 3 A$ % " & 8 # R 0 )9%;# " 3 3 >) W ,$P= '&!%( EA R 0 )9% & 8 ; ) " * !7 " W 9 " ) " & * ),@!$!=J )@/ " 3 4 >5 W 0 )9% 8.2 Variantes de paro del robot < " '3 " ( " " 5 5 5 " EE 8.3 Selector ON/OFF del teach pendant !7 $ % % % !22$ < 5 4 5 " " " * " 8.4 Interruptor DEADMAN 9 # ) $ ),@!$!!= - / !7 / $ % $ ),@!$!!= - W 5 4 " 9% W 5 < " 4 ) " EH 8.5 Vallado de seguridad " " >5 3 W " 8.6 Interruptor de selección de modo < # EJ /&9!# 0 *3 * ):)9$GAG ! ) " > <:< )9/,9 !</ &!% , 0 !9 > ) 8C# < <, ) 8K# < <, 9 #0 /&9! ) " > !PD!7 PD!7 ):)9$V=C ! 9 ) " " EG ) " 9 #0 ):)9$G=K ! 9 ) " *3 " > ) " EC EK 5 #N 5 # # "3 O > 66 P# 2 O > KKA KKK 3" # P" 1 P 5 * 5 > @" =G] % GGG KA Estimated operational stock of robots at year-end in Spain and shipments during the year GG / ] * CE] * GG C GG ) GG 5 > H , H AGG 4 / = ECA * GGG A] GGGG 6 & > 2 Number of multipurpose industrial robots per 10,000 employees in the manufacturing industry (ISIC rev.3: D) HG 5 GGGG CG] * 5 HJG ! 5 HA] " 5 >C 3 KKG , & GGGG ? " > 5 " * EA] / GG 5 CG * " C] ! * 4 # ! * I 5 GG > K] C] " > HC] * E] H 9.2 Otro software de utilidad 5 : , Q ; I " 4 Q " , < 9 I > # $0 $ 06 $% $.* $< $/ $ > $ > $ > , W KE =" 4* ==! . Q W KE 79 GGGB% '= 5 <NN 5 ( W 0 9<% % 3 '/)< ( # $%< Q < W KE 79 7 ) ' > $ ( # 0 * # " H 4 " < # " 5 / # 5 3 9 < # > * 9<% / > H= 5 : ; L) L@ </- =- " ! H L% " > ' L2 3 5 L0 * L/ 4 L > % < <NN LL) L/ @,0 L) 5 . . Q " I 1 " : > > 93 ( -B2 . ) )9 % 5 Q F> E ` > . * Q " W > 5 Q * W " "? HA Q W 5 Q * I A @1/ '@ E` * 7 1 / ( 3 , Q I 3" C 1 E` , 3" 1 " Q I E` % 1 LQ / L " " > > "" I E` ` </-M : ` 5 > </- / " </* =- 4 "* " L @ #G L< 3 Q 1 / W 5 Q I '@1/( E` " * 3 " 4 5 ,,) Q KK ] I E` " HE L > < 4 " HH 10 CONCLUSIONES 4 "> 7 5 4 5 2 ? " 3 ? 2 4 "> " * BIBLIOGRAFÍA WWW W I E 5 # WWW 3 WWW 4 WWW WWW 2 , ,P= 1? " 2 / " / 4= P0 " ! 0 0 0 % , HJ