18機器人機械原點位置說明

1、&DOLEUDWLRQ 3HQGXOXP LQVWUXFWLRQ&DOLEUDWLRQ HTXLSPHQWS4Cplus/IRC5 *HQHUDO LQIRUPDWLRQ1.4. Calibration scales and correct axis position &DOLEUDWLRQ VFDOHV DQG FRUUHFW DLV SRVLWLRQ,QWURGXFWLRQThis section specifies the calibration scale positions and/or correct axis position for all robotms.&DOLEUDWLR

2、Q VFDOHV ,5% The illustration below shows the calibration scale positions on IRB 140:xx0200000157&RQWLQXHV RQ QHW SDJH103HAC 16578-1 Revision: E Copyright 2003-2007 ABB. All rights. *HQHUDO LQIRUPDWLRQ1.4. Calibration scales and correct axis position&RQWLQXHG&DOLEUDWLRQ VFDOHV ,5% The illustration b

3、elow shows the calibration scale positions on IRB 1400:en0200000272&RQWLQXHV RQ QHW SDJH3HAC 16578-1 Revision: E11 Copyright 2003-2007 ABB. All rights. *HQHUDO LQIRUPDWLRQ1.4. Calibration scales and correct axis position&RQWLQXHG&DOLEUDWLRQ PDUNV ,5% The illustration below shows the calibration mark

4、s and correct positions of the six axes of the robot. The marks shown in the figure are numbered according to the number of the axes.xx0500001423&RQWLQXHV RQ QHW SDJH123HAC 16578-1 Revision: E Copyright 2003-2007 ABB. All rights. *HQHUDO LQIRUPDWLRQ1.4. Calibration scales and correct axis position&R

5、QWLQXHGxx0600002876&RQWLQXHV RQ QHW SDJH3HAC 16578-1 Revision: E13 Copyright 2003-2007 ABB. All rights. *HQHUDO LQIRUPDWLRQ1.4. Calibration scales and correct axis position&RQWLQXHG&DOLEUDWLRQ VFDOHV ,5% ,The illustration below shows the calibration marks and correct positions of the six axes of the

6、 robot. The marks shown in the figure are numbered according to the number of the axes.xx0700000095&RQWLQXHV RQ QHW SDJH143HAC 16578-1 Revision: E Copyright 2003-2007 ABB. All rights. *HQHUDO LQIRUPDWLRQ1.4. Calibration scales and correct axis position&RQWLQXHG&DOLEUDWLRQ VFDOHV ,5% The illustration

7、 below shows the calibration marks on all axes of the robot.en0200000273&RQWLQXHV RQ QHW SDJH3HAC 16578-1 Revision: E15 Copyright 2003-2007 ABB. All rights. *HQHUDO LQIRUPDWLRQ1.4. Calibration scales and correct axis position&RQWLQXHG&DOLEUDWLRQ VFDOHV ,5% When axis 3 is put in calibration position,

8、 the mark on the calibration plate is visible above the mechanical stop, as shown in the figure below.xx0500002485&RQWLQXHV RQ QHW SDJH163HAC 16578-1 Revision: E Copyright 2003-2007 ABB. All rights.AMechanical stop of axis 3BCalibration mark on calibration plate, axis 3CCalibration plate and marking

9、, axis 6DPunch, axis 1, 3HAB8223-1EPunch, axis 2, 3HAB8223-1 (1 marking) *HQHUDO LQIRUPDWLRQ1.4. Calibration scales and correct axis position&RQWLQXHG&DOLEUDWLRQ VFDOHV ,5% 6The illustration below shows the calibration scale positions on IRB 4450S.The calibration marks for axes 2, 3, 4 and 5 are mar

10、ked using punch mark tools.xx0500002239&RQWLQXHV RQ QHW SDJH3HAC 16578-1 Revision: E17 Copyright 2003-2007 ABB. All rights.APunch axis 2, 3HAB 1521-1BPunch axis 3, 3HAB 1522-1CPunch axis 4, 3HAB 1523-1 (there are two different versions of the marks, as shown in the figure)DPunch axis 5, 3HAB 1524-1E

11、Axes 5 and 6, IRB 4400/L10 *HQHUDO LQIRUPDWLRQ1.4. Calibration scales and correct axis position&RQWLQXHG&DOLEUDWLRQ VFDOHV ,5% The illustration below shows the calibration scale positions on IRB 4400.The calibration marks for axes 2, 3, 4 and 5 are marked using punch mark tools.xx0300000209&RQWLQXHV

12、 RQ QHW SDJH183HAC 16578-1 Revision: E Copyright 2003-2007 ABB. All rights.APunch, axis 2, 3HAB 1521-1BPunch, axis 3, 3HAB 1522-1CPunch, axis 4, 3HAB 1523-1 (there are two different versions of the marks,as shown in the figure)DPunch, axis 5, 3HAB 1524-1EAxes 5 and 6, IRB 4400/L10 *HQHUDO LQIRUPDWLR

13、Q1.4. Calibration scales and correct axis position&RQWLQXHG&DOLEUDWLRQ VFDOHV PDUNV ,5% The illustration below shows the positions of the calibration marks on the robot.xx0500002487Calibration marks at axes 2 and 3The calibration marks at axes 2, 3 and 6 shown in the figure above, consist of two sin

14、gle marks that should be positioned opposite to one another when the robot is standing in its calibration position. One of the marks is more narrow than the other and should be positioned within the limits of the wider mark.&RQWLQXHV RQ QHW SDJH3HAC 16578-1 Revision: E19 Copyright 2003-2007 ABB. All

15、 rights.ACalibration plate, axis 1BCalibration tab on robotCCalibration mark, axis 2DCalibration mark, axis 3ECalibration plate and marking, axis 6 *HQHUDO LQIRUPDWLRQ1.4. Calibration scales and correct axis position&RQWLQXHG&DOLEUDWLRQ VFDOHV PDUNV ,5% ,5% ,5% 6 ,5% The illustration below shows the

16、 location of the calibration scales on specific plates and the calibration marks directly in the casting at axes 2 and 3.The figure shows IRB 6600, but the scales and their positions are the same for IRB 6650S and IRB 7600.xx0200000176Calibration marks at axes 2 and 3The calibration marks at axes 2,

17、 3 and 6 shown in the figure above, consist of two single marks that should be positioned opposite to one another when the robot is standing in its calibration position. One of the marks is more narrow than the other and should be positioned within the limits of the wider mark.&RQWLQXHV RQ QHW SDJH2

18、03HAC 16578-1 Revision: E Copyright 2003-2007 ABB. All rights.A1Calibration scale, axis 1 (early design)A2Calibration scale, axis 1 (later design)B1Calibration scale, axis 2 (early design)B2Calibration mark, axis 2 (later design)C1Calibration scale, axis 3 (early design)C2Calibration mark, axis 3 (l

19、ater design)DCalibration scale, axis 4ECalibration scale, axis 5FCalibration scale, axis 6 *HQHUDO LQIRUPDWLRQ1.4. Calibration scales and correct axis position&RQWLQXHG&DOLEUDWLRQ VFDOHV PDUNV ,5% , DQG ,5% ,The illustration below shows the location of the calibration scales on specific plates and t

20、he calibration marks directly in the casting at axes 2 and 3.xx0500002016Calibration marks at axes 2 and 3The calibration marks at axes 2, 3 and 6 shown in the figure above, consist of two single marks that should be positioned opposite to one another when the robot is standing in its calibration po

21、sition. One of the marks is more narrow than the other and should be positioned within the limits of the wider mark.&RQWLQXHV RQ QHW SDJH3HAC 16578-1 Revision: E21 Copyright 2003-2007 ABB. All rights.ACalibration scale, axis 1BCalibration mark, axis 2CCalibration mark, axis 3DCalibration scale, axis

22、 4ECalibration plate, axis 5FCalibration plate, axis 6 *HQHUDO LQIRUPDWLRQ1.4. Calibration scales and correct axis position&RQWLQXHG&DOLEUDWLRQ VFDOHV ,5% The illustration below shows the positions of the calibration marks on all axes of the robot.xx0600003096&RQWLQXHV RQ QHW SDJH223HAC 16578-1 Revi

23、sion: E Copyright 2003-2007 ABB. All rights.ACalibration scale, axis 1BCalibration scale, axis 2CCalibration scale, axis 3DCalibration scale, axis 4ECalibration scale, axis 5FCalibration scale, axis 6 *HQHUDO LQIRUPDWLRQ1.4. Calibration scales and correct axis position&RQWLQXHG&DOLEUDWLRQ VFDOHV PDU

24、NV ,5% The figure below shows the positions of the calibration marks on the robot.xx0700000148&RQWLQXHV RQ QHW SDJH3HAC 16578-1 Revision: E23 Copyright 2003-2007 ABB. All rights.ACalibration plate, axis 1BCalibration tab on robotCCalibration mark, axis 2DCalibration mark, axis 3ECalibration mark, axis 4FCalibration mark, axis 5GCalibration mark, axis 6 *HQHUDO LQIRUPDWLRQ1.4. Calibration scales and correct axis position&RQWLQXHG:$51,1* Axis 4 has no mechanical limitation! Cabling inside the manipulato