Case 7. Fault phenomenon: a CNC gear hob equipped with SIEMENS PRIMOS system and 6RA26** series dc servo drive system started up with an alarm of "ERR21, X-axis measurement system error".

Analysis and processing: the failure analysis process is the same as before, but in this case, the Ual and Ua2, *Ual and *Ua2 output waveforms of the preamplifier exe601/5-f of the position measurement system were examined using an oscilloscope, and the same Ual output was found to be zero. Further check the grating output (input of preamplifier exe601/5-f) signal waveform, found Ie1, signal input is correct, confirm the fault is caused by preamplifier exe601/5-f bad.

According to the principle of exe601/5-f (see later), the signal of the preamplifier exe601/5-f is measured step by step, and one of the LM339 integrated voltage comparator is found to be defective. After replacement, the machine returned to normal work.

Zero correction method of KUKA robot: "deviation learning" with load. The difference from the shou adjustment is stored. If the KUKA robot is working with a variety of different loads, you must "bias learn" for each load. For grippers that grab heavy parts, "deviation learning" must be carried out for grippers without parts and with parts, respectively. The same environmental conditions (temperature, etc.) as in the shou adjustment. The load has been attached to the robot. All axes are in preset positions. No selection procedure.

Row mode T1. Steps:

1. Select menu sequence to put into operation > select adjust > EMT > to correct > bias learning with load.

2. Input tool number. OK with the tool. The options window opens. The axes of all unlearned tools are displayed. Small axes numbered zui have been marked.

3. Remove the protective cover of the measuring cylinder from the shaft marked in the options window. Screw the EMT onto the measuring cylinder. The measuring lead is then connected to the EMT and to interface X32 at the base junction box.

4. Press the soft key to learn.

5. Press the confirm switch and start button. When the EMT identifies the zui low point of the measured incision, the adjustment position has been reached. The robot stops running automatically. The options window opens. The deviations from the shou adjustment on this axis are shown in increments and degrees.

6. Use OK to confirm. The axis disappears in the options window.

7. Remove the measuring wire from the EMT. Then remove the EMT from the measuring cylinder and reinstall the protective cover.

8. Repeat steps 3 to 7 for all axes to be adjusted.

9. Remove the measuring lead from interface X32.

10. Use the soft key to close to exit the options window.

ABB robot training and maintenance can be operated simply after passing the training

Advantages of welding robot:

A, robot welding can improve production efficiency. OTC welding robot response time is short, quick, welding speed in 60 ~ 120 cm/min, the speed is much higher than the manual welding (40 ~ 60 cm/min), a robot in the process of operation not pause to rest, but workers at work is not possible without pause to rest, at the same time, the work efficiency of workers affected by the factors such as mood, workers will leave, stunned, chat, work overtime to overtime, and robot is not the problem, as long as the guarantee condition such as external utility, can continue to work, OTC robot stable performance, It can be trouble-free for 10 years. This virtually improves the productivity of the enterprise.

In the welding process of OTC welding robot, as long as the welding parameters and motion trajectory are given, the robot will repeat this action, and the welding parameters, such as welding current, voltage, welding speed and welding dry extension length, etc. play a decisive role in the welding result. When using robot welding, the welding parameters of each welding seam are constant, and the quality of welding seam is less affected by human factors, which reduces the requirements for workers' operation technology, so the welding quality is stable. When manual welding, welding speed, dry elongation and other changes, so it is difficult to achieve quality uniformity. So as to ensure the quality of our products.

3. Robot welding can reduce the cost of enterprises.OTC robot can reduce the cost of enterprises mainly in large-scale production, where one robot can replace 2 to 4 industrial workers, which varies according to the specific situation of enterprises. Robot does not have fatigue, can 24 hours a day continuous production, in addition, with the application of high-speed and efficient welding technology, the use of robot welding, cost reduction is more obvious.

Iv. Robot welding is easy to arrange the production plan. Due to the high repeatability of the robot, it will always follow the instructions as long as the given parameters, so the product cycle of robot welding is clear, and it is easy to control the product output. The production rhythm of the robot is fixed, so the production schedule is very clear. Accurate production planning can make the enterprise's production efficiency and comprehensive utilization of resources achieve zui

V. robot welding can shorten the cycle of product model change and corresponding equipment investment zi. Robot welding can shorten the cycle of product model change and corresponding equipment investment zi. It can realize welding automation of small batch products. The big difference between the robot and zui is that it can modify the program to adapt to the production of different parts.