1、CNAUS-1ABB7=08X90*7V13.7=08X9?D4(, Calibration D6Cg6.E2D1?+ TCP+e+E(/.,?C2.?A A0D 4+ =I.4+2A50D$/.,?D08X9=T3A5N*DB:p+e (5L8X/. SMU:p+e(5L8X0;8X ,“9DB+e+E( (5L8X 0D$ (5L8X0;8X =T05N*D;AS-E(D$;2.y+08X9C).EE(y?A -DB+e+E(+.m, D$DC-.)() ?DD23A?D02Q2 9?D08X9R0;7,1L08X9D$A?D(0:pQ-?(5L8X0;8XR;0?;7.m, B?DD$D
2、9/T1L)C4:p+e(5L8X0;8X: E/T,“9-*?DDB+e(5L8X1h,)DCNAUS-31. p Zd (Updating Revolution Counters)08X9*)8A22E.?D+LAA0?;7B;E8;0B 2D.,024M1t26B)+)+4)ED$(y?1t1?DD$ (D D08X9+eB;ED), 8Q+/.B 6 +e)/TA+D“?DD$DDAC08X9=r3), +eB;ED$8?.m, B+y:p-BA26,+Z+D#P?DR;7,):D6;008X92DQDB;7,):D1;.y11h,)D21:9/1L08X9A,+?D(0A509/EQ
3、-?(5L8X0;8XRD ?D(0+eD$0/T=D -D708X926)=M ) -?(5L8X0;8X+eAD$D-.)(iQ2 ?D08X9R0+F):0?D:(Y 02 +eDDDAC-.G6AAD12;7= IRB 5400C 580C 5500A DAS D12;7=DB2?D*,6,D9, -DB*AC9D;,60B ?D+eD;?=M-B(y?3A?D021?DD: ,CNAUS-51. p Zd (Updating Revolution Counters)R u1. 0)J):E6:p+e):E6;BB2.y;(-A;7,+n;6;D ( ).2. 2D6:p+e5N*:p
4、+7F 8U,B?4UD3. B;1m8X:pQ):E-R7F;+ 1 E DB6;B;7,):E6;D,/*,YB, 08X9DXDBDB 1-3DDAC9?,1LD$D;A):D-1L08X9-DBA,+,58L?D(0+eD$,B 1 mmD5. BQ):D-R7FBB08X9;7=DB;+ II E DB 4-6 6;/T3A):D-A,;7=DB;8E,58L?D(0DD9A IRB 5400 /. IRB 580 08X9*);7=D?,A5(DD (6)+dA293?D;7=):EB(y?)D00=X Enter 0BBD$,5?D1.1?0D08X9AA,+,58LD$D?=9
5、,58L69 5 mm EAB(y?D9?D;7=D11. *;1IAJ(Y,)/;A5(D*)/;DDCNAUS-8 G xZ x u )*A?;14+0 3 ?A*=M)+0.-3A54D7z 1p*?+0 (6 0+0 1p*?+0AA*.G5+DB +CCCC 8 DB z 1p?+0 (4 0+0 1p?+0AA?.G5+e;7=DB +CC 6 DB D -+0/T,DAD,8XDD,8X:p+ 24VDC/T02DAA,+0DD,8X.-92WA+0.-D +09E :A#,)*-8X PTC96+E D9E #,)*+ 100C(I2*+120C*-8X08,0+0+BD)C4
6、=T5DB/ A(5L8XAA)C4DBD$D(5L8XA+06,DA=;(5L8X)C4D$+eB3D(5L8X;UA( Z8X+eAD7/ A-A*9E /.4-,_*9E ,_C/)D1hDA*9E 0(5L8XDDA 15p-p C14+Z.J+D?/(Valid-B1L)0;A-8 A)/;DG?MOTOR_CALIB:-name “rob1_1“ -valid_com_offset -cal_offset 5.90065 -valid_cal_offset -name “rob1_2“ -valid_com_offset -cal_offset 5.01391 -valid_cal
7、_offset -name “rob1_3“ -valid_com_offset -cal_offset 4.30339 -valid_cal_offset -name “rob1_4“ -valid_com_offset -cal_offset 1.13265 -valid_cal_offset -name “rob1_5“ -valid_com_offset -cal_offset 6.19815 -valid_cal_offset -name “rob1_6“ -valid_com_offset -cal_offset 1.64289 -valid_cal_offset -name “L
8、OCKED“ -valid_com_offset -valid_cal_offset -name “CNV1“ -valid_com_offset CNAUS-102. s J (Fine-Calibrating) ?D02-2)=M?/7)BD1A6D 08X926?A D9?DDC?9 3308X9DBB2D=T,029 3,:4lA,D(YA+)A2,.+0-/D(5L8XB )C4D0+e?/A,;DX+B,:.kCpD6ADB,:*-C,D-R.EEA? +DB / (5L8X+e.yDCNAUS-112. s J (Fine-Calibrating)R u1. 0)J):E6:p+
9、e):E6;BB2.y;(-A;7,+n;6;D ( ).2. 2D6:p+e5N*:p+7F 8U,B?4UD3. B;1m8X:pQ):E-R7F;+ 1 E DB6; ;B;7,):E6;D,/*,YB, 08X9DXDBDB 1-3DDAC9?,1LD$D;A):D-1L08X9-DBA,+,58L?D(0+eD$,B 1 mmD5. BQ):D-R7FBB08X9;7=DB;+ II E DB6;/TDB 4-63A):D-A,;7=DB;8E,58L?D(0DD9A IRB 5400 /. IRB 580 08X9*);7=D?,A5(DD (6)+dA29 3?D;7=):EB(y?)D0+0?;77. 0=X Enter 0BBD$,5?D1.1?0D08X9AA,+,58LD$D?=9,58L69 5 mm EAB(y?D9?D;7=D11. *;1IAJ(Y,)/;A5(D*)/;DDCNAUS-14J x xC (IRB5500)M0xQ,s6B3M&CNAUS-15J x xC (IRB5400)CNAUS-16J x xC (IRB580)CNAUS-17 uCNAUS-18J x xC (IRB52)
