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(guò)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(duì)集成化，這種集成辦法具有構(gòu)造簡(jiǎn)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(duì)操控器送電，機(jī)器人報(bào)伺服毛病，毛病代碼為SERVO-062。對(duì)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(duì)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(duì)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(duì)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(duì)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(duì)端子5、6和18 用萬(wàn)用表丈量＋5V、＋24V操控電源均正常。接下來(lái)對(duì)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(wàn)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(zhǎng)時(shí)間埋在積水中，線路已腐蝕嚴(yán)峻。

Hughes Large Diameter Infrared Light Weight Lens

Enlarge
Precision Optical Mirror Mount MM26

Enlarge
Davidson Adjustable Reference Mirror D615 #141

Enlarge
Daedal 8" Travel Single Axis Stage

Taylor Hobson Mount

10" Precision Optical Mirror Mount MM24

Enlarge
Aerotech Precision Optical Mirror Mount MM30

Enlarge
Precision Optical Mirror Mount MM29

Enlarge
Precision Optical Mirror Mount MM25

Enlarge
Olympus BH2-MDO Multi-Viewing Attachment

Farrand Optical Scan Prism

American Optical Stereo Star Zoom on Boom Stand

Enlarge
Barnes Engineering Infrared Radiometric Microscope

IR Germanium Dual Magnification Lens

Enlarge
Precision Optical Mirror Mount MM3

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

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

Enlarge
Agilent/Hewlett Single Beam Interferometer

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

Enlarge
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

Enlarge
Heidenhain 840mm Sealed Linear Encoder NOS

Olympus SZ4045 Stereozoom Microscope

Enlarge
Farrand Optical Square 88183

7 Miscellaneous Microscopes

Enlarge
6" Daedal Precision Optical Mirror Mount MM42

Enlarge
Precision Optical Mirror/Lens Mount MM09

Enlarge
Carl Zeiss S-Planar Lens 1.3/80

Enlarge
Zeiss Binocular Medical Microscope

Enlarge
Aerotech Single Axis Servo Driven Stage

Vision Engineering Dynascopes *Lot of 5*

Enlarge
Brass and Wood Statimeter 1942 *Group of 4*

Enlarge
PI Ultra High Prescision Side Drive Stage w/Motor Drive

Dual Voltage Spindles *Lot of 4*

Precision Optical Mirror/Lens Mount MM10

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

Schwartz Electro Optics Erbium Laser Head

Enlarge
Lasico Digital Filar Eyepiece with Calibration Standard

Enlarge
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

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

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

Lucent 11120 CBX DS3 FR TOP 1024 PR