Nigute ushobora kugarura amakosa ya Encoder Yibitse kuri Robo Yaskawa

Vuba aha, umukiriya yagishije inama Automation ya JSR kubyerekeye kodegisi. Reka tubiganireho uyu munsi:

Imashini ya robot Yaskawa Ikosa ryo Kugarura Imikorere Incamake

Muri sisitemu yo kugenzura YRC1000, moteri ku kuboko kwa robo, amashoka yo hanze, hamwe na posisiyo zifite ibikoresho byabigenewe. Izi bateri zibika amakuru yumwanya mugihe imbaraga zo kugenzura zizimye. Igihe kirenze, ingufu za batiri ziragabanuka. Iyo igabanutse munsi ya 2.8V, umugenzuzi azatanga impuruza 4312: Ikosa rya Bateri ya Encoder.

Niba bateri idasimbuwe mugihe nigikorwa gikomeje, amakuru yumwanya wuzuye azabura, bikurura impuruza 4311: Ikosa rya Encoder. Kuri iyi ngingo, imyanya yubukorikori nyayo ya robo ntizongera guhuza umwanya wabitswe neza na kodegisi, biganisha kuri offset.

Intambwe zo gukira muri Encoder Yibitseho Ikosa:

Kuri ecran ya ecran, kanda [RESET] kugirango ukureho impuruza. Urashobora noneho kwimura robot ukoresheje urufunguzo rwo kwiruka.

Koresha urufunguzo rwo kwiruka kugirango wimure buri murongo kugeza uhujwe nibimenyetso bya zeru-point kuri robot.

Birasabwa gukoresha sisitemu ihuriweho na sisitemu yo guhindura.

Hindura robot muburyo bwo kuyobora.

Kuva kuri Main Main, hitamo [Robo]. Hitamo [Umwanya wa Zeru] - Zeru ya Calibration ya Zeru izagaragara.

Kuri axis iyo ari yo yose yibasiwe na kodegisi ya kodegisi, umwanya wa zeru uzerekana nka “＊”, byerekana amakuru yabuze.

Fungura menu. Hitamo [Gukosora Ibikubiyemo Byibutsa] uhereye kumurongo wamanutse. Ububiko bwa Backup Alarm Recovery burakingura. Hitamo umurongo kugirango ukire.

- Himura indanga kumurongo wafashwe hanyuma ukande [Hitamo]. Ikiganiro cyemeza kizagaragara. Hitamo “Yego”.

- Imyanya yuzuye yamakuru yatoranijwe izagarurwa, kandi indangagaciro zose zizerekanwa.

Jya kuri [Robo]> [Umwanya uriho], hanyuma uhindure imirongo yerekana kuri Pulse.

Reba impiswi indangagaciro kuri axis yatakaje umwanya wa zeru:

Hafi ya 0 pulses → Gusubirana biruzuye.

Hafi ya +4096 pulses → Himura iyo axe +4096, hanyuma ukore imyanya ya zeru.

Hafi ya -4096 pulses → Himura iyo axis -4096 pulses, hanyuma ukore zeru kumwanya wihariye.

Imyanya ya zeru imaze guhindurwa, fata umuriro hanyuma utangire kugenzura robo

Inama: Uburyo bworoshye Intambwe ya 10 (Iyo Pulse ≠ 0)

Niba agaciro ka pulse kumurongo wa 10 atari zeru, urashobora gukoresha uburyo bukurikira kugirango byoroshye guhuza:

Kuva kuri Main Main, hitamo [Ibihinduka]> [Ubwoko bwa none (Robo)].

Hitamo P-impinduka idakoreshwa. Shiraho guhuza ubwoko bwa Joint, hanyuma wandike 0 kumashoka yose.

Ku mashoka afite imyanya ya zeru yatakaye, iyinjiza +4096 cyangwa -4096 nkuko bikenewe.

Koresha urufunguzo rwa [Imbere] kugirango wimure robot kuri uwo mwanya wa P-uhinduka, hanyuma ukore imyanya ya zeru.

Kubera ibibazo byururimi, niba tutagaragaje neza, nyamuneka twandikire kugirango tuganire kubindi. Murakoze.

#Yaskawarobot #yaskawaencoder #robotencoder #robotbackup #yaskawamotoman # weldingrobot #JSRAutomation