機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)(ren)位(wei)置偏(pian)移(yi)函(han)(han)數(shu)(shu)(shu)(shu)介紹在(zai)對機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)(ren)示教編程時，除了要用(yong)(yong)(yong)到機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)(ren)的常規運動指(zhi)(zhi)(zhi)(zhi)令(ling)外，還要用(yong)(yong)(yong)到另(ling)外一種運動功能，即機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)(ren)位(wei)置偏(pian)移(yi)函(han)(han)數(shu)(shu)(shu)(shu)。市面(mian)上(shang)常見的工(gong)(gong)業機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)(ren)都具備(bei)這種位(wei)置偏(pian)移(yi)函(han)(han)數(shu)(shu)(shu)(shu)，當(dang)然(ran)，ABB機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)(ren)也(ye)不例(li)外。“Offs”就是(shi)ABB機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)(ren)的位(wei)置偏(pian)移(yi)函(han)(han)數(shu)(shu)(shu)(shu)，它的功能是(shi)用(yong)(yong)(yong)于在(zai)已有的機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)(ren)位(wei)置的工(gong)(gong)件坐標(biao)(biao)系(xi)中(zhong)(zhong)添加一個偏(pian)移(yi)量。這里一定(ding)要注意，它是(shi)在(zai)機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)(ren)的工(gong)(gong)件坐標(biao)(biao)系(xi)中(zhong)(zhong)疊(die)加的偏(pian)移(yi)量函(han)(han)數(shu)(shu)(shu)(shu)Offs中(zhong)(zhong)Point的數(shu)(shu)(shu)(shu)據類(lei)型為robtarget，其(qi)余三(san)個偏(pian)移(yi)量的數(shu)(shu)(shu)(shu)據類(lei)型均為num電(dian)(dian)弧(hu)(hu)(hu)傳感(gan)(gan)器(qi)(qi)(qi)(qi)(qi)(qi)(qi)指(zhi)(zhi)(zhi)(zhi)令(ling)介紹在(zai)FANUC機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)(ren)系(xi)統(tong)中(zhong)(zhong)內置了**指(zhi)(zhi)(zhi)(zhi)令(ling)來控制電(dian)(dian)弧(hu)(hu)(hu)傳感(gan)(gan)器(qi)(qi)(qi)(qi)(qi)(qi)(qi)的開啟與(yu)(yu)關閉，電(dian)(dian)弧(hu)(hu)(hu)傳感(gan)(gan)器(qi)(qi)(qi)(qi)(qi)(qi)(qi)指(zhi)(zhi)(zhi)(zhi)令(ling)包含跟(gen)蹤(zong)電(dian)(dian)弧(hu)(hu)(hu)傳感(gan)(gan)器(qi)(qi)(qi)(qi)(qi)(qi)(qi)指(zhi)(zhi)(zhi)(zhi)令(ling)與(yu)(yu)跟(gen)蹤(zong)結束(shu)(shu)指(zhi)(zhi)(zhi)(zhi)令(ling)，跟(gen)蹤(zong)電(dian)(dian)弧(hu)(hu)(hu)傳感(gan)(gan)器(qi)(qi)(qi)(qi)(qi)(qi)(qi)指(zhi)(zhi)(zhi)(zhi)令(ling)用(yong)(yong)(yong)于控制電(dian)(dian)弧(hu)(hu)(hu)傳感(gan)(gan)器(qi)(qi)(qi)(qi)(qi)(qi)(qi)的開啟跟(gen)蹤(zong)結束(shu)(shu)指(zhi)(zhi)(zhi)(zhi)令(ling)（TrackEnd）用(yong)(yong)(yong)于控制電(dian)(dian)弧(hu)(hu)(hu)傳感(gan)(gan)器(qi)(qi)(qi)(qi)(qi)(qi)(qi)的關閉，指(zhi)(zhi)(zhi)(zhi)令(ling)格式較為簡單，并(bing)且沒有指(zhi)(zhi)(zhi)(zhi)令(ling)參數(shu)(shu)(shu)(shu)，可直接插入使(shi)用(yong)(yong)(yong)。兩條指(zhi)(zhi)(zhi)(zhi)令(ling)必須同時使(shi)用(yong)(yong)(yong)，單獨使(shi)用(yong)(yong)(yong)任何一條指(zhi)(zhi)(zhi)(zhi)令(ling)機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)(ren)都會出現報警。兩條指(zhi)(zhi)(zhi)(zhi)令(ling)在(zai)行業內部(bu)也(ye)被(bei)稱為電(dian)(dian)弧(hu)(hu)(hu)跟(gen)蹤(zong)開始(shi)指(zhi)(zhi)(zhi)(zhi)令(ling)與(yu)(yu)電(dian)(dian)弧(hu)(hu)(hu)跟(gen)蹤(zong)結束(shu)(shu)指(zhi)(zhi)(zhi)(zhi)令(ling)。ABB機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)(ren)安全操作規則。隴南ABB工(gong)(gong)業機(ji)(ji)(ji)器(qi)(qi)(qi)(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)(ren)配件

ABB工業機器(qi)(qi)人(ren)暫停(ting)(ting)重啟(qi)后(hou)的(de)自動降(jiang)速(su)(su)處理 1：機器(qi)(qi)人(ren)響應(ying)暫停(ting)(ting)重啟(qi)事件(jian)(jian)(jian)，需要用(yong)(yong)到(dao)Event Routine配置(zhi)(zhi)，將(jiang)Start/Stop/Restart事件(jian)(jian)(jian)關(guan)(guan)聯到(dao)指定函數當示(shi)教器(qi)(qi)執行PP to Main操(cao)作(zuo)，并按(an)(an)(an)下(xia)(xia)播(bo)(bo)放(fang)(fang)按(an)(an)(an)鈕(niu)時，會(hui)觸(chu)發Start事件(jian)(jian)(jian)；按(an)(an)(an)下(xia)(xia)停(ting)(ting)止按(an)(an)(an)鈕(niu)時，會(hui)觸(chu)發Stop事件(jian)(jian)(jian)；重新按(an)(an)(an)下(xia)(xia)播(bo)(bo)放(fang)(fang)按(an)(an)(an)鈕(niu)時，會(hui)觸(chu)發Restart事件(jian)(jian)(jian)；若在(zai)程(cheng)序停(ting)(ting)止后(hou)，執行PP to Main操(cao)作(zuo)，再按(an)(an)(an)下(xia)(xia)播(bo)(bo)放(fang)(fang)按(an)(an)(an)鈕(niu)，則仍(reng)只會(hui)觸(chu)發Start事件(jian)(jian)(jian)。對于(yu)System Input的(de)Start / Stop動作(zuo)，分(fen)(fen)別(bie)對應(ying)于(yu)示(shi)教器(qi)(qi)播(bo)(bo)放(fang)(fang)/停(ting)(ting)止按(an)(an)(an)鈕(niu)，效果(guo)一(yi)致2、百分(fen)(fen)比速(su)(su)度(du)設(she)置(zhi)(zhi)，雖然有(you)很多方(fang)法(fa)，無論是VelSet、SpeedRefresh，或者SpeedLimAxis，都(dou)不能刷(shua)新示(shi)教器(qi)(qi)上面的(de)速(su)(su)度(du)百分(fen)(fen)比顯示(shi)，只有(you)System Inputs配置(zhi)(zhi)Set Speed Override才可(ke)以(yi)直接同(tong)步(bu)修改示(shi)教器(qi)(qi)速(su)(su)度(du)設(she)置(zhi)(zhi)。為了能在(zai)程(cheng)序中觸(chu)發這些DI信(xin)號(hao)，則需要在(zai)Cross Connection中關(guan)(guan)聯對應(ying)的(de)DO信(xin)號(hao)，便于(yu)程(cheng)控(kong)。若想任意設(she)置(zhi)(zhi)不同(tong)的(de)速(su)(su)度(du)百分(fen)(fen)比，可(ke)以(yi)增設(she)信(xin)號(hao)對應(ying)不同(tong)的(de)System Input / Set Speed Override百分(fen)(fen)比值(zhi)；也可(ke)以(yi)信(xin)號(hao)關(guan)(guan)聯System Input / Limit Speed，然后(hou)在(zai)程(cheng)序上調用(yong)(yong)SpeedLimAxis靈活調整速(su)(su)度(du)限制。其余就簡單(dan)了，計時器(qi)(qi)用(yong)(yong)于(yu)延遲30秒恢復(fu)荃(quan)速(su)(su)，在(zai)恢復(fu)荃(quan)速(su)(su)前(qian)判斷一(yi)下(xia)(xia)速(su)(su)度(du)設(she)置(zhi)(zhi)是否已經(jing)變更，若人(ren)為變更，則不再恢復(fu)荃(quan)速(su)(su)。隴南(nan)ABB工業機器(qi)(qi)人(ren)配件(jian)(jian)(jian)ABB機器(qi)(qi)人(ren)SMB板針(zhen)腳(jiao)解(jie)釋。

ABB機器(qi)(qi)(qi)人直流(liu)(liu)母線(xian)(xian)欠(qian)壓(ya)故(gu)(gu)(gu)障(zhang)故(gu)(gu)(gu)障(zhang)原(yuan)因:直流(liu)(liu)回(hui)(hui)路(lu)(lu)的(de)(de)直流(liu)(liu)電(dian)(dian)壓(ya)不(bu)足，可能是由于電(dian)(dian)網缺相(xiang)、熔斷(duan)(duan)器(qi)(qi)(qi)燒斷(duan)(duan)或整流(liu)(liu)橋內部故(gu)(gu)(gu)障(zhang)所(suo)引(yin)起的(de)(de)。處理(li)方法:檢(jian)查(cha)主電(dian)(dian)源供電(dian)(dian)是否(fou)正常，如(ru)(ru)果(guo)(guo)變(bian)(bian)頻(pin)(pin)器(qi)(qi)(qi)進線(xian)(xian)端通過(guo)了接觸器(qi)(qi)(qi)，要(yao)檢(jian)查(cha)接觸器(qi)(qi)(qi)的(de)(de)控(kong)(kong)制回(hui)(hui)路(lu)(lu)是否(fou)誤動作，如(ru)(ru)控(kong)(kong)制回(hui)(hui)路(lu)(lu)有錯誤動作，可能導致接觸器(qi)(qi)(qi)短時間內頻(pin)(pin)繁啟動停止，造成變(bian)(bian)頻(pin)(pin)器(qi)(qi)(qi)欠(qian)壓(ya)故(gu)(gu)(gu)障(zhang)，復位即好(hao)，所(suo)以該故(gu)(gu)(gu)障(zhang)為能復位的(de)(de)欠(qian)壓(ya)故(gu)(gu)(gu)障(zhang)，變(bian)(bian)頻(pin)(pin)器(qi)(qi)(qi)的(de)(de)主接觸器(qi)(qi)(qi)控(kong)(kong)制回(hui)(hui)路(lu)(lu)要(yao)認真檢(jian)查(cha)。如(ru)(ru)出現欠(qian)壓(ya)故(gu)(gu)(gu)障(zhang)不(bu)能復位，檢(jian)查(cha)電(dian)(dian)容(rong)(rong)是否(fou)泄露。如(ru)(ru)果(guo)(guo)變(bian)(bian)頻(pin)(pin)器(qi)(qi)(qi)剛斷(duan)(duan)電(dian)(dian)，迅(xun)速通電(dian)(dian)，也會引(yin)發此故(gu)(gu)(gu)障(zhang)，所(suo)以變(bian)(bian)頻(pin)(pin)器(qi)(qi)(qi)斷(duan)(duan)電(dian)(dian)，要(yao)等(deng)電(dian)(dian)容(rong)(rong)放(fang)電(dian)(dian)完畢(bi)后(約5min)，再重新(xin)啟動變(bian)(bian)頻(pin)(pin)器(qi)(qi)(qi)。

ABB機(ji)器(qi)(qi)人溫度(du)高(gao)(gao)(gao)報警(jing)(jing)處(chu)(chu)(chu)理(li)——20252電(dian)(dian)(dian)機(ji)溫度(du)高(gao)(gao)(gao)報警(jing)(jing)處(chu)(chu)(chu)理(li)方法(fa)：(1)本體6個(ge)(ge)電(dian)(dian)(dian)機(ji)溫控(kong)線(xian)為串聯，蕞后接(jie)(jie)入控(kong)制(zhi)柜接(jie)(jie)觸器(qi)(qi)板（柜內左側的(de)(de)A43）的(de)(de)X5插頭(tou)(2)可(ke)(ke)能某個(ge)(ge)軸溫度(du)過高(gao)(gao)(gao)，導(dao)致熱敏電(dian)(dian)(dian)阻斷(duan)開，可(ke)(ke)以(yi)打開電(dian)(dian)(dian)機(ji)蓋板檢(jian)查；(3)如(ru)果(guo)電(dian)(dian)(dian)機(ji)不熱或者溫控(kong)線(xian)斷(duan)開，也可(ke)(ke)暫時(shi)短(duan)接(jie)(jie)A43接(jie)(jie)觸器(qi)(qi)板上(shang)X5插頭(tou)的(de)(de)1和(he)(he)2針腳(jiao)；90252外(wai)部(bu)(bu)設備溫度(du)高(gao)(gao)(gao)報警(jing)(jing)處(chu)(chu)(chu)理(li)方法(fa)：(1)如(ru)果(guo)確實有(you)外(wai)部(bu)(bu)軸電(dian)(dian)(dian)機(ji)，請檢(jian)測是(shi)否(fou)溫度(du)過高(gao)(gao)(gao)導(dao)致電(dian)(dian)(dian)機(ji)內的(de)(de)熱敏電(dian)(dian)(dian)阻斷(duan)開，導(dao)致上(shang)述錯誤。(2)如(ru)果(guo)沒有(you)外(wai)部(bu)(bu)軸，或者外(wai)軸溫度(du)不高(gao)(gao)(gao)，但(dan)無(wu)(wu)法(fa)確認(ren)外(wai)軸電(dian)(dian)(dian)機(ji)溫控(kong)線(xian)是(shi)否(fou)斷(duan)開，可(ke)(ke)以(yi)如(ru)下(xia)方法(fa)短(duan)接(jie)(jie)：外(wai)軸溫控(kong)線(xian)位(wei)于接(jie)(jie)觸器(qi)(qi)板上(shang)的(de)(de)X24的(de)(de)1和(he)(he)2針腳(jiao)。正常情況下(xia)1和(he)(he)2為導(dao)通，若無(wu)(wu)法(fa)確認(ren)外(wai)軸溫控(kong)線(xian)是(shi)否(fou)良好，可(ke)(ke)以(yi)暫時(shi)短(duan)接(jie)(jie)X24的(de)(de)1和(he)(he)2針腳(jiao)，如(ru)果(guo)故(gu)(gu)障消(xiao)除，則外(wai)軸溫控(kong)線(xian)有(you)故(gu)(gu)障。ABB機(ji)器(qi)(qi)人案例之MODBUS TCP通訊。

電(dian)(dian)(dian)(dian)池(chi)備份丟(diu)失：1.機(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)SMB在機(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)關(guan)機(ji)(ji)(ji)時，需(xu)要SMB上的(de)(de)電(dian)(dian)(dian)(dian)池(chi)供電(dian)(dian)(dian)(dian)。如果關(guan)機(ji)(ji)(ji)時電(dian)(dian)(dian)(dian)池(chi)徹底沒(mei)(mei)電(dian)(dian)(dian)(dian)或者斷(duan)開了電(dian)(dian)(dian)(dian)池(chi)與SMB的(de)(de)連(lian)接(jie)(jie)，開機(ji)(ji)(ji)后(hou)(hou)會出(chu)現(xian)上述(shu)錯(cuo)誤(wu)2.出(chu)現(xian)上述(shu)錯(cuo)誤(wu)，首先檢查(cha)電(dian)(dian)(dian)(dian)池(chi)連(lian)接(jie)(jie)是否正確并(bing)確認電(dian)(dian)(dian)(dian)池(chi)是否有電(dian)(dian)(dian)(dian)。3.開機(ji)(ji)(ji)后(hou)(hou)，移動機(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)到零刻度(du)(du)位，并(bing)執行(xing)(xing)校準里面的(de)(de)轉(zhuan)數(shu)計(ji)(ji)數(shu)器(qi)(qi)更新。4.執行(xing)(xing)轉(zhuan)數(shu)計(ji)(ji)數(shu)器(qi)(qi)更新后(hou)(hou)，可以消除上述(shu)錯(cuo)誤(wu)。提高(gao)DSQC652信號響應速度(du)(du)：1/SQC652為(wei)基(ji)于(yu)(yu)DeviceNet的(de)(de)ABB機(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)I/O模塊（16DI/16DO）2對(dui)(dui)(dui)于(yu)(yu)基(ji)于(yu)(yu)DeviceNet總(zong)線(xian)(xian)的(de)(de)I/O模塊，可以在下(xia)圖(tu)位置修改(gai)PollRate參(can)數(shu)（單位ms），以提高(gao)對(dui)(dui)(dui)設(she)備的(de)(de)掃描速度(du)(du)。例如修改(gai)為(wei)500ms。3.對(dui)(dui)(dui)于(yu)(yu)DSQC651等(deng)基(ji)于(yu)(yu)DeviceNet總(zong)線(xian)(xian)的(de)(de)I/O板(ban)卡，均可進行(xing)(xing)類似(si)設(she)置。ABB機(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)控制柜出(chu)廠(chang)AutoStop短(duan)接(jie)(jie)線(xian)(xian)問題(ti)：從(cong)2021年(nian)末開始，ABB機(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)控制出(chu)廠(chang)時，IRC5標準柜的(de)(de)安(an)板(ban)X5及IRC5C緊(jin)湊控制柜的(de)(de)X9端子的(de)(de)短(duan)接(jie)(jie)線(xian)(xian)如左下(xia)圖(tu)，即只(zhi)短(duan)接(jie)(jie)了常規停(ting)止（GenernalStop），AutoStop相關(guan)線(xian)(xian)沒(mei)(mei)有短(duan)接(jie)(jie)（需(xu)要客(ke)戶自(zi)行(xing)(xing)按右下(xia)圖(tu)短(duan)接(jie)(jie)或者接(jie)(jie)入安(an)全門等(deng)設(she)備）。若(ruo)AutoStop相關(guan)回路(lu)沒(mei)(mei)有接(jie)(jie)通，機(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)在自(zi)動模式無法上電(dian)(dian)(dian)(dian)。ABB機(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)伺服電(dian)(dian)(dian)(dian)機(ji)(ji)(ji)修理做方位操控定位不準的(de)(de)處(chu)理方法。濟南ABB工業(ye)機(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)保養

ABB伺服(fu)電機行業(ye)應用。隴(long)南ABB工(gong)業(ye)機器人配(pei)件(jian)

ABB機(ji)器(qi)(qi)(qi)人(ren)(ren)電(dian)(dian)(dian)(dian)池(chi)(chi)更(geng)(geng)換(huan)(huan)流程 當 ABB機(ji)器(qi)(qi)(qi)人(ren)(ren)需要更(geng)(geng)換(huan)(huan)電(dian)(dian)(dian)(dian)池(chi)(chi)時，將會(hui)顯示電(dian)(dian)(dian)(dian)池(chi)(chi)低(di)電(dian)(dian)(dian)(dian)量警(jing)告（38213 電(dian)(dian)(dian)(dian)池(chi)(chi)電(dian)(dian)(dian)(dian)量低(di)）。 將機(ji)器(qi)(qi)(qi)人(ren)(ren)所有(you)關節回零（對準零位標(biao)志(zhi)即可，不(bu)一定(ding)非要jue對的(de)0度）。 每個關節均有(you)零位標(biao)志(zhi)。 保(bao)持機(ji)器(qi)(qi)(qi)人(ren)(ren)通(tong)電(dian)(dian)(dian)(dian)的(de)情(qing)況下，通(tong)過卸(xie)下連接(jie)(jie)螺(luo)釘(ding)從(cong)機(ji)器(qi)(qi)(qi)人(ren)(ren)上卸(xie)下底座蓋。 斷開電(dian)(dian)(dian)(dian)池(chi)(chi)電(dian)(dian)(dian)(dian)纜與(yu)編碼(ma)器(qi)(qi)(qi)接(jie)(jie)口(kou)電(dian)(dian)(dian)(dian)路板的(de)連接(jie)(jie)。 （注意：卡(ka)扣需要按下，不(bu)要強制拔插頭）。 用(yong)剪(jian)刀剪(jian)掉扎帶(dai)，拆(chai)下舊(jiu)電(dian)(dian)(dian)(dian)池(chi)(chi)。 裝(zhuang)回新(xin)(xin)電(dian)(dian)(dian)(dian)池(chi)(chi)，并用(yong)扎帶(dai)固定(ding)，剪(jian)刀剪(jian)下多出來(lai)的(de)扎帶(dai)。 將電(dian)(dian)(dian)(dian)池(chi)(chi)電(dian)(dian)(dian)(dian)纜與(yu)編碼(ma)器(qi)(qi)(qi)接(jie)(jie)口(kou)電(dian)(dian)(dian)(dian)路板相連。 用(yong)其(qi)連接(jie)(jie)螺(luo)釘(ding)將底座蓋重新(xin)(xin)安裝(zhuang)到機(ji)器(qi)(qi)(qi)人(ren)(ren)上。 此時轉(zhuan)數(shu)(shu)計數(shu)(shu)器(qi)(qi)(qi)不(bu)需要更(geng)(geng)換(huan)(huan)，繼續使(shi)用(yong)機(ji)器(qi)(qi)(qi)人(ren)(ren)即可。 如果斷電(dian)(dian)(dian)(dian)的(de)情(qing)況下，請更(geng)(geng)換(huan)(huan)轉(zhuan)數(shu)(shu)計數(shu)(shu)器(qi)(qi)(qi)。 更(geng)(geng)新(xin)(xin)轉(zhuan)數(shu)(shu)計算(suan)器(qi)(qi)(qi)，在菜單(dan)-校準-轉(zhuan)數(shu)(shu)計算(suan)器(qi)(qi)(qi)更(geng)(geng)新(xin)(xin)-選擇全部(bu)-更(geng)(geng)新(xin)(xin) 即可。 新(xin)(xin)手斷電(dian)(dian)(dian)(dian)更(geng)(geng)換(huan)(huan)電(dian)(dian)(dian)(dian)池(chi)(chi)，更(geng)(geng)換(huan)(huan)完后進行轉(zhuan)數(shu)(shu)計算(suan)器(qi)(qi)(qi)更(geng)(geng)新(xin)(xin)的(de)操作。隴南ABB工業機(ji)器(qi)(qi)(qi)人(ren)(ren)配件

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