FANUC機(jī)器人操控體系 
1.概述
FANUC機(jī)器人首要運(yùn)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(jī)器人，也是最早用到具有附加軸的焊接機(jī)器人。其操控體系選用32位CPU操控，以進(jìn)步機(jī)器人運(yùn)動(dòng)插補(bǔ)運(yùn)算和坐標(biāo)變換的運(yùn)算速度；選用64位數(shù)字伺服驅(qū)動(dòng)單元，同步操控6軸運(yùn)動(dòng)，運(yùn)動(dòng)精度大大進(jìn)步，最多可操控21軸，進(jìn)一步改進(jìn)了機(jī)器人動(dòng)態(tài)特性；支撐離線編程技能，技能人員可經(jīng)過離線編程軟件設(shè)置參數(shù)，優(yōu)化機(jī)器人運(yùn)動(dòng)程序；操控器內(nèi)部構(gòu)造相對集成化，這種集成辦法具有構(gòu)造簡略、整機(jī)價(jià)格便宜且易保護(hù)養(yǎng)護(hù)等特色。

毛病案例剖析
FANUC機(jī)器人操控器斷電維修后，對操控器送電，機(jī)器人報(bào)伺服毛病，毛病代碼為SERVO-062。對此毛病進(jìn)行復(fù)位：按MENUS→SYSTEM→F1，[TYPE]→找 master/cal→F3，RES_PCA →F4，YES 后，機(jī)器人依然報(bào)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(jī)器人編碼器上數(shù)據(jù)存儲(chǔ)的電池?zé)o電或許現(xiàn)已損壞  拆開編碼器脈沖數(shù)據(jù)存儲(chǔ)的電池安裝盒，電池盒內(nèi)裝有4節(jié)一般1.5V的1號(hào)干電池，對每節(jié)電池的電壓進(jìn)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(jìn)行復(fù)位，機(jī)器人依然報(bào)SERVO-062毛病。
（2）操控器內(nèi)伺服放大器操控板壞  查看伺服放大器LED“D7”上方的2個(gè)DC鏈路電壓查看螺絲，承認(rèn)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(shí)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(jìn)一步對伺服放大器操控板上P5V、P3.3V、SVEMG和OPEN的LED色彩進(jìn)行調(diào)查，承認(rèn)電源電壓輸出正常，沒有外部緊迫中止信號(hào)輸入，與機(jī)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(jī)器人操控器與機(jī)器人本體的外部電纜連線RM1、RP1進(jìn)行查看，RM1為機(jī)器人伺服電機(jī)電源、抱閘操控線，RP1為機(jī)器人伺服電機(jī)編碼器信號(hào)以及操控電源線路、結(jié)尾執(zhí)行器線路和編碼器上數(shù)據(jù)存儲(chǔ)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(chǔ)的電池線路進(jìn)行查看。機(jī)器人每個(gè)軸的伺服電機(jī)脈沖編碼器操控端由1～10個(gè)端子構(gòu)成，端子8、9和10為＋5V電源，端子4、7為數(shù)據(jù)堅(jiān)持電池電源，端子5、6為反應(yīng)信號(hào)，端子3為接地，端子1、2空。拔掉M1電機(jī)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(jī)悉數(shù)為0，由此能夠判斷編碼器上數(shù)據(jù)存儲(chǔ)的電池線路損壞。順著線路，發(fā)現(xiàn)正負(fù)電源雙絞線的一端插頭長時(shí)間埋在積水中，線路已腐蝕嚴(yán)峻。

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