5 / 237Issued: 22.01.2013 Version: KSS 8.3 END V1 en (PDF)
Contents
4.14 Bypassing workspace monitoring .............................................................................. 72
4.15 Monitor functions ........................................................................................................ 73
4.15.1 Measuring and displaying energy consumption .................................................... 73
4.15.2 Displaying the actual position ............................................................................... 75
4.15.3 Displaying digital inputs/outputs ........................................................................... 75
4.15.4 Displaying analog inputs/outputs .......................................................................... 77
4.15.5 Displaying inputs/outputs for Automatic External ................................................. 77
4.15.6 Displaying cyclical flags ........................................................................................ 78
4.15.7 Displaying flags ..................................................................................................... 79
4.15.8 Displaying counters .............................................................................................. 80
4.15.9 Displaying timers .................................................................................................. 81
4.15.10 Displaying calibration data .................................................................................... 82
4.15.11 Displaying information about the robot and robot controller ................................. 83
4.15.12 Displaying/editing robot data ................................................................................ 83
5 Start-up and recommissioning ................................................................... 85
5.1 Start-up wizard ........................................................................................................... 85
5.2 Checking the machine data ....................................................................................... 85
5.3 Jogging the robot without a higher-level safety controller .......................................... 86
5.4 Checking the activation of the positionally accurate robot model .............................. 87
5.5 Mastering ...................................................................................................................87
5.5.1 Mastering methods ............................................................................................... 88
5.5.2 Moving axes to the pre-mastering position ........................................................... 89
5.5.3 Mastering with the EMD ........................................................................................ 90
5.5.3.1 First mastering (with EMD) ................................................................................... 91
5.5.3.2 Teach offset (with EMD) ....................................................................................... 93
5.5.3.3 Check load mastering with offset (with EMD) ....................................................... 94
5.5.4 Mastering with the dial gauge ............................................................................... 95
5.5.5 Mastering external axes ........................................................................................ 97
5.5.6 Reference mastering ............................................................................................ 97
5.5.7 Mastering with the MEMD and mark ..................................................................... 98
5.5.7.1 First mastering (with MEMD) ................................................................................ 99
5.5.7.2 Teach offset (with MEMD) .................................................................................... 102
5.5.7.3 Check load mastering with offset (with MEMD) .................................................... 103
5.5.8 Manually unmastering axes .................................................................................. 105
5.6 Modifying software limit switches ............................................................................... 105
5.7 Calibration .................................................................................................................. 107
5.7.1 Tool calibration ..................................................................................................... 107
5.7.1.1 TCP calibration: XYZ 4-point method ................................................................... 109
5.7.1.2 TCP calibration: XYZ Reference method .............................................................. 111
5.7.1.3 Defining the orientation: ABC World method ........................................................ 112
5.7.1.4 Defining the orientation: ABC 2-point method ...................................................... 112
5.7.1.5 Numeric input ........................................................................................................ 114
5.7.2 Base calibration .................................................................................................... 114
5.7.2.1 3-point method ...................................................................................................... 115
5.7.2.2 Indirect method ..................................................................................................... 116
5.7.2.3 Indirect method ..................................................................................................... 117
5.7.3 Fixed tool calibration ............................................................................................. 118
5.7.3.1 Calibrating an external TCP .................................................................................. 118
5.7.3.2 Entering the external TCP numerically ................................................................. 120
zqxx533739312018-01-22非常好 可惜是英文的
z3495681172017-09-25非常感谢，很好的资料
