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1.问题的提出 浙江大学工业控制技术研究所有一台美国进口的PUMA 560C型机器人。在使用过程中,我们发现它有时会出现一些错误。由于随机所带的资料不全,故单从资料分析中,无法排除故障。 2.PUMA 560C故障一例 在运行PUMA 560C时,机器有时会出现下述故障: *ANY ENCODER ERROR* 即系统某个关节的编码器出错。这时,系统会自动处于停机状态,机器人手臂电源自动切断,机器人出错提示灯亮。此时程序也不再运行。
1 questions raised Zhejiang University Institute of Industrial Control Technology has a United States imported PUMA 560C robot. During use, we found that it sometimes made some mistakes. Due to incomplete random data, so the single data analysis, can not rule out the fault. 2.PUMA 560C a failure example PUMA 560C run, the machine sometimes the following problems occur: * ANY ENCODER ERROR * That a system joint encoder error. At this time, the system will automatically stop, the robot arm power automatically cut off, the robot error light is lit. At this point the program is no longer running.