库卡KUKA机器人资料mo2-mastering-en

Whyismasteringcarriedout?A1=0°A2=-90°A3=+90°A4,A5,A6=0°Whentherobotismastered,theaxesaremovedintoadefinedmechanicalposition,theso-calledmechanicalzeroposition.Oncetherobotisinthismechanicalzeroposition,theabsoluteencodervalueforeachaxisissaved.OnlyamasteredrobotcanmovetoprogrammedpositionsandbemovedusingCartesiancoordinates;amasteredrobotalsoknowsthepositionsofthesoftwarelimitswitches.01/20061mo2_mastering_en.pptMasteringequipmentElectronicmeasuringtool(EMT)Dial

gaugeInordertomovetherobotexactlytothemechanicalzeroposition,adialgaugeorelectronicmeasuringtool(EMT)isused.InEMTmastering,theaxisisautomaticallymovedbytherobotcontrollertothemechanicalzeroposition.

Ifadialgaugeisbeingused,thismustbecarriedoutmanuallyinaxis-specificmode.01/20062mo2_mastering_en.pptCross-sectionofthegaugecartridgeEMTordialgauge“Frontsight/

rearsight”markerReferencenotchGaugepinGaugecartridge01/20063mo2_mastering_en.pptSchematicrepresentationofthemasteringrunEMTordialgaugeMotiondirection+-MechanicalzeropositionEMTordialgaugeMotiondirection+-Pre-masteringposition“Frontsight/

rearsight”marker01/20064mo2_mastering_en.pptReasonsforremastering...manuallybytheoperator...afterexchangingagearunit

1) Ifdiscrepanciesaredetectedbetweentheresolverdatasavedwhenshuttingdownthecontrollerandthecurrentposition,allmasteringdataaredeletedforsafetyreasons....manuallybytheoperator... afteracollisioninvolvingthetoolorrobot...manuallybytheoperator... afteranimpactwithamechanicalendstopatmorethanjogvelocity(25cm/s)...automaticallyonbootingthesystem1)... whentherobothasbeenmovedwithoutthecontroller(e.g.handcrank)...automaticallyonbootingthesystem1)... afterrepairs(e.g.replacementofadrivemotororRDC)Masteringiscanceled...Therobotistobemastered......manuallybytheoperator... ifthemasteringvaluesfortheindividualaxesaretobespecificallydeletedMasteringiscanceled...Therobotcanbeunmastered...01/20065mo2_mastering_en.pptMasteringwiththeEMTMastering

loss/checkCheck

masteringMasterload

withoffsetMasterload

withoutoffset1)SetmasteringTeachoffsetFirstmasteringMasteringwiththeEMT1)

Onlypossibleifthefirstmasteringisstillvalid(i.e.nochangetothedrivetrain,e.g.replacementofamotororparts,orfollowingacollision,etc.)Set-up01/20066mo2_mastering_en.pptPreparationforEMTmastering!OKMoveaxestopre-masteringposition(frontsightandrearsightaligned)Moveaxesmanuallyinaxis-

specificmodeEachaxisismasteredindividuallyStartwithaxis1andmoveupwardsAlwaysmoveaxisfrom+to-OnlyinT1!01/20067mo2_mastering_en.pptPreparationforEMTmasteringRemoveprotectivecapfromgaugecartridgeAttachEMTandconnectsignalcable(connectionX32onthejunctionboxontherotatingcolumn)ThreeLEDsontheEMT:

red - error

green - fallingedge

green - risingedge132Gaugecartridge13201/20068mo2_mastering_en.pptMasteringmenuWithloadcorr.StandardCheck

masteringSet

masteringFirst

masteringTeachoffsetMasterloadWithoutoffsetWithoffsetMasterDialEMTSavecurrentdata01/20069mo2_mastering_en.pptSet-upMastering

loss/checkMasteringwithpositionallyaccuraterobotsCheck

masteringSet

masteringFirst

masteringTeachoffsetMasterloadW