FANUC機器人操控體系 
1.概述
FANUC機器人首要運用在奇瑞公司乘用車一廠和乘用車三廠的焊裝車間中，是奇瑞公司最早引入的焊接機器人，也是最早用到具有附加軸的焊接機器人。其操控體系選用32位CPU操控，以進步機器人運動插補運算和坐標變換的運算速度；選用64位數(shù)字伺服驅動單元，同步操控6軸運動，運動精度大大進步，最多可操控21軸，進一步改進了機器人動態(tài)特性；支撐離線編程技能，技能人員可經過離線編程軟件設置參數(shù)，優(yōu)化機器人運動程序；操控器內部構造相對集成化，這種集成辦法具有構造簡略、整機價格便宜且易保護養(yǎng)護等特色。

毛病案例剖析
FANUC機器人操控器斷電維修后，對操控器送電，機器人報伺服毛病，毛病代碼為SERVO-062。對此毛病進行復位：按MENUS→SYSTEM→F1，[TYPE]→找 master/cal→F3，RES_PCA →F4，YES 后，機器人依然報伺服毛病。
1.毛病剖析和查看
毛病代碼SERVO-062的解釋為SERVO2 BZAL alarm（Group: %d Axis:%d），毛病可能因素剖析如下：
（1）機器人編碼器上數(shù)據(jù)存儲的電池無電或許現(xiàn)已損壞  拆開編碼器脈沖數(shù)據(jù)存儲的電池安裝盒，電池盒內裝有4節(jié)一般1.5V的1號干電池，對每節(jié)電池的電壓進行丈量，均在1.4V以下，電池電壓顯著偏低，所以替換新電池，再次對毛病進行復位，機器人依然報SERVO-062毛病。
（2）操控器內伺服放大器操控板壞  查看伺服放大器LED“D7”上方的2個DC鏈路電壓查看螺絲，承認DC鏈路電壓。假如查看到的DC鏈路電壓高于50V，就可判斷伺服放大器操控板處于反常狀況。實際查看發(fā)現(xiàn)DC鏈路電壓低于50V，所以初步判斷伺服放大器操控板處于正常狀況。進一步對伺服放大器操控板上P5V、P3.3V、SVEMG和OPEN的LED色彩進行調查，承認電源電壓輸出正常，沒有外部緊迫中止信號輸入，與機器人主板通信也正常，掃除伺服放大器操控板損壞。
（3）線路損壞  對機器人操控器與機器人本體的外部電纜連線RM1、RP1進行查看，RM1為機器人伺服電機電源、抱閘操控線，RP1為機器人伺服電機編碼器信號以及操控電源線路、結尾執(zhí)行器線路和編碼器上數(shù)據(jù)存儲的電池線路等線路。拔掉插頭RP1，對端子5、6和18 用萬用表丈量＋5V、＋24V操控電源均正常。接下來對編碼器上數(shù)據(jù)存儲的電池線路進行查看。機器人每個軸的伺服電機脈沖編碼器操控端由1～10個端子構成，端子8、9和10為＋5V電源，端子4、7為數(shù)據(jù)堅持電池電源，端子5、6為反應信號，端子3為接地，端子1、2空。拔掉M1電機的脈沖操控插頭M1P，萬用表丈量端子4、7，電壓為0，相同的辦法查看M2～M7電機悉數(shù)為0，由此能夠判斷編碼器上數(shù)據(jù)存儲的電池線路損壞。順著線路，發(fā)現(xiàn)正負電源雙絞線的一端插頭長時間埋在積水中，線路已腐蝕嚴峻。

Hughes Large Diameter Infrared Light Weight Lens

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Precision Optical Mirror Mount MM26

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Davidson Adjustable Reference Mirror D615 #141

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Daedal 8" Travel Single Axis Stage

Taylor Hobson Mount

10" Precision Optical Mirror Mount MM24

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Aerotech Precision Optical Mirror Mount MM30

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Precision Optical Mirror Mount MM29

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Precision Optical Mirror Mount MM25

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Olympus BH2-MDO Multi-Viewing Attachment

Farrand Optical Scan Prism

American Optical Stereo Star Zoom on Boom Stand

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Barnes Engineering Infrared Radiometric Microscope

IR Germanium Dual Magnification Lens

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Precision Optical Mirror Mount MM3

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J. Unertl 6 1/4" Precision Mirror Mount MM50

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Nicolet FT-IR Spectrometer Model 510 *As-Is*

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Agilent/Hewlett Single Beam Interferometer

J. Unertl 5 3/4" Precision Mirror Mount MM49

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Farrand Optical Square 88305

Taylor Hobson Levelling Stand

Taylor Hobson Optical Square

Taylor Hobson Adjustable Mirror Reflector

Taylor Hobson Dual Optical Micrometer

Taylor Hobson Variable Focus Collimator

Davidson Adjustable Stand - Elevation and Azimuth

Leica/American Optical Trinocular Teaching Microscope

Taylor Hobson Alignment Telescope Lot *Parts or Repair*

6" Precision Optical Mirror Mount

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Heidenhain 840mm Sealed Linear Encoder NOS

Olympus SZ4045 Stereozoom Microscope

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Farrand Optical Square 88183

7 Miscellaneous Microscopes

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6" Daedal Precision Optical Mirror Mount MM42

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Precision Optical Mirror/Lens Mount MM09

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Carl Zeiss S-Planar Lens 1.3/80

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Zeiss Binocular Medical Microscope

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Aerotech Single Axis Servo Driven Stage

Vision Engineering Dynascopes *Lot of 5*

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Brass and Wood Statimeter 1942 *Group of 4*

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PI Ultra High Prescision Side Drive Stage w/Motor Drive

Dual Voltage Spindles *Lot of 4*

Precision Optical Mirror/Lens Mount MM10

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Talandic Research X-Y-Z Stage with 2 x 2 x 4" Travel

Schwartz Electro Optics Erbium Laser Head

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Lasico Digital Filar Eyepiece with Calibration Standard

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Adtran 4200917L1 NetVanta 5305 Subrate T3 Bundle NEWOEM

APC SYMMETRA SY16K UPS SYSTEM SY16kVA Refurbished

Telect 010-8332-0410 DS3 Chassis Loaded NEW

ENTERASYS XSR-3150 350 Mbps Security Router NEW

Adtran 4200992L1 NetVanta 5305 w/ T3 Wide Module NEWOEM

120x LC/ LC Multimode Duplex Fiber Jumper 30M Free Ship

Adtran 4200990L2 NetVanta 5305 Chassis w/ EFP NEWOEM

120x LC/SC Multimode Duplex Fiber Jumpers 30M Free Ship

Adtran 4200990L1 NetVanta 5305 Chassis NEWOEM

120x LC/ LC Multimode Duplex Fiber Jumper 20M Free Ship

120x LC/SC Singlemode Duplex Fiber Jumper 30M Free Ship

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Adtran 4200995L1 NetVanta 5305 DC Chassis NEWOEM

120x LC/SC Multimode Duplex Fiber Jumpers 20M Free Ship

120x SC/SC Singlemode Duplex Fiber Jumpers 30M FreeShip

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