轉(zhuǎn)數(shù)計(jì)數(shù)器更新

工業(yè)機(jī)器人調(diào)試——05轉(zhuǎn)數(shù)計(jì)數(shù)器更新工業(yè)機(jī)器人調(diào)試ABB機(jī)器人6個(gè)關(guān)節(jié)軸的示意圖工業(yè)機(jī)器人調(diào)試轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作在以下的情況，我們需要對(duì)機(jī)械原點(diǎn)的位置進(jìn)行轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作：更換伺服電機(jī)轉(zhuǎn)數(shù)計(jì)數(shù)器電池后。當(dāng)轉(zhuǎn)數(shù)計(jì)數(shù)器發(fā)生故障，修復(fù)后。轉(zhuǎn)數(shù)計(jì)數(shù)器與測(cè)量板之間斷開(kāi)過(guò)以后。斷電后，機(jī)器人關(guān)節(jié)軸發(fā)生了移動(dòng)。當(dāng)系統(tǒng)報(bào)警提示“10036轉(zhuǎn)數(shù)計(jì)數(shù)器未更新”時(shí)。工業(yè)機(jī)器人調(diào)試手動(dòng)調(diào)節(jié)關(guān)節(jié)軸的調(diào)節(jié)順序使用手動(dòng)操縱器讓機(jī)器人各關(guān)節(jié)軸運(yùn)動(dòng)到機(jī)械原點(diǎn)刻度位置的順序是：4-5-6-1-2-3關(guān)節(jié)軸4關(guān)節(jié)軸5關(guān)節(jié)軸6關(guān)節(jié)軸3關(guān)節(jié)軸2關(guān)節(jié)軸1工業(yè)機(jī)器人調(diào)試IRB6640機(jī)械原點(diǎn)刻度位置ABB機(jī)器人六個(gè)關(guān)節(jié)軸都有一個(gè)機(jī)械原點(diǎn)的位置。各個(gè)型號(hào)的機(jī)器人機(jī)械原點(diǎn)刻度位置會(huì)有所不同，請(qǐng)參考ABB說(shuō)明書(shū)。關(guān)節(jié)軸4關(guān)節(jié)軸5關(guān)節(jié)軸6關(guān)節(jié)軸3關(guān)節(jié)軸2關(guān)節(jié)軸1工業(yè)機(jī)器人調(diào)試機(jī)器人在機(jī)械原點(diǎn)位置的形態(tài)工業(yè)機(jī)器人調(diào)試轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作步驟在手動(dòng)操縱菜單中，選擇“軸4-6”運(yùn)動(dòng)模式，將關(guān)節(jié)軸4運(yùn)動(dòng)到機(jī)械原點(diǎn)的刻度位置。關(guān)節(jié)軸41.調(diào)關(guān)節(jié)軸4工業(yè)機(jī)器人調(diào)試轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作步驟在手動(dòng)操縱菜單中，選擇“軸4-6”運(yùn)動(dòng)模式，將關(guān)節(jié)軸5運(yùn)動(dòng)到機(jī)械原點(diǎn)的刻度位置。2.調(diào)關(guān)節(jié)軸5關(guān)節(jié)軸5工業(yè)機(jī)器人調(diào)試轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作步驟在手動(dòng)操縱菜單中，選擇“軸4-6”運(yùn)動(dòng)模式，將關(guān)節(jié)軸6運(yùn)動(dòng)到機(jī)械原點(diǎn)的刻度位置。3.調(diào)關(guān)節(jié)軸6關(guān)節(jié)軸6工業(yè)機(jī)器人調(diào)試轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作步驟在手動(dòng)操縱菜單中，選擇“軸1-3”運(yùn)動(dòng)模式，將關(guān)節(jié)軸1運(yùn)動(dòng)到機(jī)械原點(diǎn)的刻度位置。4.調(diào)關(guān)節(jié)軸1關(guān)節(jié)軸1工業(yè)機(jī)器人調(diào)試轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作步驟在手動(dòng)操縱菜單中，選擇“軸1-3”運(yùn)動(dòng)模式，將關(guān)節(jié)軸2運(yùn)動(dòng)到機(jī)械原點(diǎn)的刻度位置。5.調(diào)關(guān)節(jié)軸2關(guān)節(jié)軸2工業(yè)機(jī)器人調(diào)試轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作步驟在手動(dòng)操縱菜單中，選擇“軸1-3”運(yùn)動(dòng)模式，將關(guān)節(jié)軸3運(yùn)動(dòng)到機(jī)械原點(diǎn)的刻度位置。6.調(diào)關(guān)節(jié)軸3關(guān)節(jié)軸3工業(yè)機(jī)器人調(diào)試轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作步驟單擊“ABB”選擇“校準(zhǔn)”7.編輯電動(dòng)機(jī)校準(zhǔn)偏移工業(yè)機(jī)器人調(diào)試轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作步驟單擊“ROB_1”7.編輯電動(dòng)機(jī)校準(zhǔn)偏移工業(yè)機(jī)器人調(diào)試轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作步驟選擇“校準(zhǔn)參數(shù)”7.編輯電動(dòng)機(jī)校準(zhǔn)偏移選擇“編輯電動(dòng)機(jī)校準(zhǔn)偏移”工業(yè)機(jī)器人調(diào)試轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作步驟如果機(jī)器人由于安裝位置的關(guān)系，無(wú)法六個(gè)軸同時(shí)到達(dá)機(jī)械原點(diǎn)刻度位置，則可以逐一對(duì)關(guān)節(jié)軸進(jìn)行轉(zhuǎn)數(shù)計(jì)數(shù)器更新。8.記錄ABB機(jī)器人IRB6640轉(zhuǎn)數(shù)計(jì)數(shù)器偏置數(shù)據(jù)工業(yè)機(jī)器人調(diào)試轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作步驟9.確認(rèn)更改設(shè)置單擊“是”工業(yè)機(jī)器人調(diào)試轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作步驟10.錄入機(jī)器人本體記錄的電動(dòng)機(jī)校準(zhǔn)偏移數(shù)據(jù)單擊“確定”工業(yè)機(jī)器人調(diào)試轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作步驟11.確認(rèn)電動(dòng)機(jī)校準(zhǔn)偏移單擊“是”工業(yè)機(jī)器人調(diào)試轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作步驟12.機(jī)器人本體記錄的電動(dòng)機(jī)校準(zhǔn)偏移數(shù)據(jù)單擊“是”如果示教器中顯示的數(shù)值與機(jī)器人本體上的標(biāo)簽數(shù)值一致，則無(wú)需修改，直接單擊“取消”退出，跳至14“更新轉(zhuǎn)數(shù)計(jì)數(shù)器”。工業(yè)機(jī)器人調(diào)試轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作步驟13.重啟控制器單擊“ABB”選擇“校準(zhǔn)”工業(yè)機(jī)器人調(diào)試轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作步驟單擊“ROB_1”工業(yè)機(jī)器人調(diào)試轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作步驟單擊“更新轉(zhuǎn)數(shù)計(jì)數(shù)器”14.更新轉(zhuǎn)數(shù)計(jì)數(shù)器工業(yè)機(jī)器人調(diào)試轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作步驟14.更新轉(zhuǎn)數(shù)計(jì)數(shù)器單擊“是”工業(yè)機(jī)器人調(diào)試轉(zhuǎn)數(shù)計(jì)數(shù)器更新操作步驟14.更新轉(zhuǎn)數(shù)計(jì)數(shù)