说明德国kuka机器人

1、Why is mastering carried out?A1=0A2=-90A3=+90A4, A5, A6=0When the robot is mastered, the axes are moved into a defined mechanical position, the so-called mechanical zero position.Once the robot is in this mechanical zero position, the absolute encoder value for each axis is saved.Mastering equipment

2、Electronic measuring tool (EMT)Dial gaugeIn order to move the robot exactly to the mechanical zero position, a dial gauge or electronic measuring tool (EMT) is used.In EMT mastering, the axis is automatically moved by the robot controller to the mechanical zero position. If a dial gauge is being use

3、d, this must be carried out manually in axis-specific mode.Cross-section of the gauge cartridgeEMTordial gaugeFrontsight/rearsight markerReference notchGauge pinGauge cartridgePreparation for EMT mastering!OKMove axes to pre-mastering position (frontsight and rearsight aligned)Move axes manually in

4、axis-specific modeEach axis is mastered individuallyStart with axis 1 and move upwardsAlways move axis from + to -Preparation for EMT masteringRemove protective cap from gauge cartridgeAttach EMT and connect signal cable (connection X32 on the junction box on the rotating column)Three LEDs on the EMT:red-errorgreen-falling edgegreen-rising edgeGauge cartridge132132Contents of: R1CoExternal axis 1External axis 2External axis 3External axis 411 Object(s)HPUSetupThe external axes are included in all EMT mastering/unmastering options.Mastering external axesIf the system contains mor