The installation of the robot is carried out on the site, and the real production environment will be affected by the space utilization rate, etc., resulting in many attitudes of the robot being limited to a certain extent, and this can easily lead to the vibration of the industrial robot in the actual work. displacement and other phenomena, and eventually lead to the industrial robot can not operate according to the design speed, so after the installation of the industrial robot, before the actual production work, on-site debugging and calibration is very important, specifically, the commissioning work mainly includes the following two aspects.
1. Zeroing and debugging each axis of the industrial robot
After the robot is installed in the factory, the axes of the industrial robot may not be zeroed, if such a robot is directly put into production, the center of gravity of each axis may not be accurately fixed on the support point, and the production process may lead to tilting, which will not only affect the normal industrial production, but also may endanger the life safety of the staff, so it is very necessary to zero and debug the axes of the industrial robot. Under normal circumstances, the arms of each axis of the industrial robot will leave a mark of the zero point, only need to operate each axis back to the position, it means that the debugging of each axis is zero, and the base of the robot will also be pasted with the angle corresponding to the 6 axes of the origin of each axis, which is an important reference in the debugging. However, the specific debugging also needs to make a specific analysis according to the on-site environment and the tasks that need to be completed, such as in this process, the relevant debugging personnel can specifically plan a reasonable zeroing "route", and then move the robot to each point in turn through the teaching pendant, and then record the relevant data, and finally the debugging personnel combine their own proofreading experience to repeat the experiment, and the industrial robot each axis is zeroed and debugged according to the actual production operation requirements.
2. Signal processing and debugging of industrial robots
The improved version of the modern industrial robot can be operated automatically according to the specified principles in accordance with the method of artificial intelligence, such as completing the operation trajectory specified by the signal command according to the received signal, so as to quickly adapt to the new environment. The industrial robot system is not used alone, in the process of industrial robot production, it must be linked with other peripheral equipment, and the signals on these peripheral devices must be linked to the industrial production robot system signal through CC-link. Therefore, after the robot is installed in the factory, before it is put into actual production and use, it is very necessary to debug the signal processing of the industrial robot. Specifically, in the process of debugging, the CC-link needs to be set, but it should be noted that the CC-ling signal set by the debugging personnel must be consistent with the model, master, slave and station information of the PCC, and at the same time, after the signal setting is completed, all signals need to be tabulated, and annotated during PLC programming.