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ABB機械手開機一直顯示在加載狀態修理電話
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轉角路徑故障中的“轉角"指的是機器人路徑中的各個編程位置中的轉彎角度。轉彎角度在ABB機器人中由zonedata - 區域數據來定義,也就是我們平時所接觸的Z0,Z50,fine這類數據。zonedata用于規定如何結束一個位置,即在朝下一個位置移動之前,軸必須如何接近編程位置。機器人之所以可以根據zonedata所設定的要求作出相應的轉彎效果,是因為機器人可以預讀當前運動指令的下一條運動指令,那么如果當前運動指令為這段路徑的最后一句運動指令或者當前運動指令與下一條運動指令之間相隔很多非運動指令(ABB機械手開機一直顯示在加載狀態修理電話相隔大于3句,因為機器人只能提前預讀3句)且運動指令沒有使用fine時,機器人就不能預讀到下一條運動指令,所以也就不能提前計算出轉彎效果,所以就會出現50024的錯誤提示。并且機器人會以fine的效果執行完該運動指令。除上述這種情況外,編程點太近時也會導致機器人計算不出轉彎效果,導致報該錯誤。但這并不會影響機器人的運行,那么我們該如何取消該提示