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首页 > 新闻中心 > ABB机器人自定义2轴变位机配置方法与配置文件
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ABB机器人自定义2轴变位机配置方法与配置文件
发布时间：2022-03-01        浏览次数：600        返回列表
 1. 对于二轴变位机，如果有数模 ，可以在RobotStudio的机械装置中，将变位机制作成外轴类型的机械装置，然后使用外轴向导进行自动moc参数创建

2. 在使用外轴向导时，以下地方要勾上 User Error Model（若此处为灰色，则是在制作机械装置是有问题，重新制作）。

使用了Error模型后，可以在后续第4步分别对二轴变位机的2个轴进行校准，机器人会根据两个轴校准得到的结果自动重算二轴变位机DH模型

若未使用Error模型后，在后续第4步时只能选择对变位机整体的Base进行校准，即机器人使用在moc中设置的二轴变位机DH模型参数，不可根据现场校准重算。


微信图片_20220301094225
3. 后续设置每个轴的电机，减速比等参数
4. 重启后，即可在校准Base界面看到下图。
 即先对***个轴进行4点法校准，然后让1轴在0度，校准第二个轴。机器人会自动计算变位机内部DH并修改。

微信图片_20220301094235
5. 备份中，该变位机也被识别为IRBP_A类型，error_model使用ERROR

微信图片_20220301094345

6. 若二轴变位机没有模型，也可直接将以下文件保存为a_positioner.cfg，导入机器人后重启，再根据实际修改减速比，电机参数等。以下文件采用ERROR模型，即可现场对二轴变位机的每个轴进行校准，以实现二轴变位机与机器人的整体***联动
important; overflow-wrap: break-word !important;">
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important; overflow-wrap: break-word !important;">MOC:CFG_1.0::important; overflow-wrap: break-word !important;">
important; overflow-wrap: break-word !important;">MECHANICAL_UNIT:important; overflow-wrap: break-word !important;">-name "STN1" -use_run_enable "" -use_activation_relay "" -use_brake_relay "rob1_brake" \important; overflow-wrap: break-word !important;">-use_robot "STN1" -stand_by_state -activate_at_start_up -deactivation_forbidden \important; overflow-wrap: break-word !important;">-allow_move_of_user_frame important; overflow-wrap: break-word !important;">#important; overflow-wrap: break-word !important;">ROBOT:important; overflow-wrap: break-word !important;">-name "STN1" -use_robot_type "STN1" -use_joint_0 "M7DM1" -use_joint_1 "M8DM1" important; overflow-wrap: break-word !important;">#important; overflow-wrap: break-word !important;">ROBOT_TYPE:important; overflow-wrap: break-word !important;">-name "STN1" -type "IRBP_A" -error_model "ERROR" -no_of_joints 2 -base_pose_rot_u0 1 \important; overflow-wrap: break-word !important;">-base_pose_rot_u1 0 -base_pose_rot_u2 0 -base_pose_rot_u3 0 important; overflow-wrap: break-word !important;">#important; overflow-wrap: break-word !important;">ARM:important; overflow-wrap: break-word !important;">-name "M7DM1" -use_arm_type "M7DM1" -use_acc_data "M7DM1" -upper_joint_bound 3.14159265358979 \important; overflow-wrap: break-word !important;">-lower_joint_bound -3.14159265358979 important; overflow-wrap: break-word !important;">
important; overflow-wrap: break-word !important;">-name "M8DM1" -use_arm_type "M8DM1" -use_acc_data "M8DM1" -upper_joint_bound 3.14159265358979 \important; overflow-wrap: break-word !important;">-lower_joint_bound -3.14159265358979 important; overflow-wrap: break-word !important;">#important; overflow-wrap: break-word !important;">ARM_TYPE:important; overflow-wrap: break-word !important;">-name "M7DM1" -length 0 -offset_z 0 -theta_home_position 0 -attitude 0 -rot_axis_pose_pos_x 1.2 \important; overflow-wrap: break-word !important;">-rot_axis_pose_pos_y 0 -rot_axis_pose_pos_z 0.7 -rot_axis_pose_orient_u0 0.707106781186548 \important; overflow-wrap: break-word !important;">-rot_axis_pose_orient_u1 0.707106781186547 -rot_axis_pose_orient_u2 0 -rot_axis_pose_orient_u3 0 important; overflow-wrap: break-word !important;">
important; overflow-wrap: break-word !important;">-name "M8DM1" -length 0 -offset_z 0.2306 -theta_home_position -3.14159265358979 \important; overflow-wrap: break-word !important;">-attitude 1.5707963267949 -rot_axis_pose_pos_x 1.2 -rot_axis_pose_pos_y 0 \important; overflow-wrap: break-word !important;">-rot_axis_pose_pos_z 0.9306 -rot_axis_pose_orient_u0 1 -rot_axis_pose_orient_u1 0 \important; overflow-wrap: break-word !important;">-rot_axis_pose_orient_u2 0 -rot_axis_pose_orient_u3 0 important; overflow-wrap: break-word !important;">#important; overflow-wrap: break-word !important;">JOINT:important; overflow-wrap: break-word !important;">-name "M7DM1" -logical_axis 7 -use_measurement_channel "M7DM1" \important; overflow-wrap: break-word !important;">-use_axc_filter "M7DM1" -use_arm "M7DM1" -use_transmission "M7DM1" \important; overflow-wrap: break-word !important;">-use_brake "M7DM1" -use_supervision "M7DM1" -use_drive_system "M7DM1" \important; overflow-wrap: break-word !important;">-drive_module 1 -use_drive_module "drive_module_1" \important; overflow-wrap: break-word !important;">-uncalibrated_control_master_type "UCCM0" \important; overflow-wrap: break-word !important;">-use_uncalibrated_control_master "M7DM1" -normal_control_master_type "LCM0" \important; overflow-wrap: break-word !important;">-use_normal_control_master "M7DM1" important; overflow-wrap: break-word !important;">
important; overflow-wrap: break-word !important;">-name "M8DM1" -logical_axis 8 -use_measurement_channel "M8DM1" \important; overflow-wrap: break-word !important;">-use_axc_filter "M8DM1" -use_arm "M8DM1" -use_transmission "M8DM1" \important; overflow-wrap: break-word !important;">-use_brake "M8DM1" -use_supervision "M8DM1" -use_drive_system "M8DM1" \important; overflow-wrap: break-word !important;">-drive_module 1 -use_drive_module "drive_module_1" \important; overflow-wrap: break-word !important;">-uncalibrated_control_master_type "UCCM0" \important; overflow-wrap: break-word !important;">-use_uncalibrated_control_master "M8DM1" -normal_control_master_type "LCM0" \important; overflow-wrap: break-word !important;">-use_normal_control_master "M8DM1" important; overflow-wrap: break-word !important;">#important; overflow-wrap: break-word !important;">TRANSMISSION:important; overflow-wrap: break-word !important;">-name "M7DM1" -rotating_move -transm_joint 50 -high_gear 50 important; overflow-wrap: break-word !important;">-name "M8DM1" -rotating_move -transm_joint 50 -high_gear 50 important; overflow-wrap: break-word !important;">#important; overflow-wrap: break-word !important;">MEASUREMENT_CHANNEL:important; overflow-wrap: break-word !important;">-name "M7DM1" -use_measurement_board_type "DSQC313" -measurement_link 2 \important; overflow-wrap: break-word !important;">-board_position 1 -measurement_node 1 important; overflow-wrap: break-word !important;">
important; overflow-wrap: break-word !important;">-name "M8DM1" -use_measurement_board_type "DSQC313" -measurement_link 2 \important; overflow-wrap: break-word !important;">-board_position 1 -measurement_node 2 important; overflow-wrap: break-word !important;">#important; overflow-wrap: break-word !important;">ACC_DATA:important; overflow-wrap: break-word !important;">-name "M7DM1" -wc_acc 12 -wc_dec 12 -wc_dacc_ratio 1 -wc_ddec_ratio 1 important; overflow-wrap: break-word !important;">-name "M8DM1" -wc_acc 12 -wc_dec 12 -wc_dacc_ratio 1 -wc_ddec_ratio 1 important; overflow-wrap: break-word !important;">#important; overflow-wrap: break-word !important;">BRAKE:important; overflow-wrap: break-word !important;">-name "M7DM1" -control_off_speed_limit 0.02 -control_off_delay_time 0.3 \important; overflow-wrap: break-word !important;">-use_brake_type "3HAC029924-007" important; overflow-wrap: break-word !important;">
important; overflow-wrap: break-word !important;">-name "M8DM1" -control_off_speed_limit 0.02 -control_off_delay_time 0.3 \important; overflow-wrap: break-word !important;">-use_brake_type "3HAC029924-007" important; overflow-wrap: break-word !important;">#important; overflow-wrap: break-word !important;">SUPERVISION:important; overflow-wrap: break-word !important;">
important; overflow-wrap: break-word !important;">-name "M7DM1" -use_supervision_type "M7DM1" -power_up_position_on \important; overflow-wrap: break-word !important;">-counter_supervision_on -position_supervision_on -speed_supervision_on \important; overflow-wrap: break-word !important;">-load_supervision_on -jam_supervision_on -thermal_motor_supervision_on \important; overflow-wrap: break-word !important;">-in_position_range 1 -normalized_zero_speed 0.02 \important; overflow-wrap: break-word !important;">-dsp_torque_limitation_zero_speed_width 1 \important; overflow-wrap: break-word !important;">-reference_master_pos_supervision_on important; overflow-wrap: break-word !important;">
important; overflow-wrap: break-word !important;">-name "M8DM1" -use_supervision_type "M8DM1" -power_up_position_on \important; overflow-wrap: break-word !important;">-counter_supervision_on -position_supervision_on -speed_supervision_on \important; overflow-wrap: break-word !important;">-load_supervision_on -jam_supervision_on -thermal_motor_supervision_on \important; overflow-wrap: break-word !important;">-in_position_range 1 -normalized_zero_speed 0.02 \important; overflow-wrap: break-word !important;">-dsp_torque_limitation_zero_speed_width 1 \important; overflow-wrap: break-word !important;">-reference_master_pos_supervision_on important; overflow-wrap: break-word !important;">#important; overflow-wrap: break-word !important;">SUPERVISION_TYPE:important; overflow-wrap: break-word !important;">
important; overflow-wrap: break-word !important;">-name "M7DM1" -static_power_up_position_limit 3 \important; overflow-wrap: break-word !important;">-dynamic_power_up_position_limit 150 -static_position_limit 3 \important; overflow-wrap: break-word !important;">-dynamic_position_limit 200 -static_normalized_speed_limit 0.06 \important; overflow-wrap: break-word !important;">-dynamic_normalized_speed_limit 0.3 -normalized_influence_sensitivity 0 \important; overflow-wrap: break-word !important;">-speed_half_time 0.5 -max_jam_normalized_speed 0.05 -max_overload_time 0.5 \important; overflow-wrap: break-word !important;">-max_jam_time 0.5 -teach_mode_speed_max_main 0.15 \important; overflow-wrap: break-word !important;">-teach_mode_speed_max_dsp 0.28 important; overflow-wrap: break-word !important;">
important; overflow-wrap: break-word !important;">-name "M8DM1" -static_power_up_position_limit 3 \important; overflow-wrap: break-word !important;">-dynamic_power_up_position_limit 150 -static_position_limit 3 \important; overflow-wrap: break-word !important;">-dynamic_position_limit 200 -static_normalized_speed_limit 0.06 \important; overflow-wrap: break-word !important;">-dynamic_normalized_speed_limit 0.3 -normalized_influence_sensitivity 0 \important; overflow-wrap: break-word !important;">-speed_half_time 0.5 -max_jam_normalized_speed 0.05 -max_overload_time 0.5 \important; overflow-wrap: break-word !important;">-max_jam_time 0.5 -teach_mode_speed_max_main 0.15 \important; overflow-wrap: break-word !important;">-teach_mode_speed_max_dsp 0.28 important; overflow-wrap: break-word !important;">#important; overflow-wrap: break-word !important;">AXC_FILTER:important; overflow-wrap: break-word !important;">
important; overflow-wrap: break-word !important;">-name "M7DM1" -use_feedback_iir2_filter "LP_496" \important; overflow-wrap: break-word !important;">-use_speed_error_iir2_filter1 "NOTCH_248" \important; overflow-wrap: break-word !important;">-use_speed_error_iir2_filter2 "LAG_16_72" -use_force_control_filter "ONE" \important; overflow-wrap: break-word !important;">-use_torque_limit_iir1_filter1 "LP_25" -use_torque_limit_iir1_filter2 "LP_25" important; overflow-wrap: break-word !important;">
important; overflow-wrap: break-word !important;">-name "M8DM1" -use_feedback_iir2_filter "LP_496" \important; overflow-wrap: break-word !important;">-use_speed_error_iir2_filter1 "NOTCH_248" \important; overflow-wrap: break-word !important;">-use_speed_error_iir2_filter2 "LAG_16_72" -use_force_control_filter "ONE" \important; overflow-wrap: break-word !important;">-use_torque_limit_iir1_filter1 "LP_25" -use_torque_limit_iir1_filter2 "LP_25" important; overflow-wrap: break-word !important;">#important; overflow-wrap: break-word !important;">DRIVE_SYSTEM:important; overflow-wrap: break-word !important;">
important; overflow-wrap: break-word !important;">-name "M7DM1" -use_current_transfer_function "cur_tr_1.00" \important; overflow-wrap: break-word !important;">-use_current_controller "c_c_fast_1" -use_mains "mains" \important; overflow-wrap: break-word !important;">-use_trafo "trafo_dm1" -use_dc_link "dc_link_ext_dm1" -use_drive_unit "M7DM1" \important; overflow-wrap: break-word !important;">-use_cable "cable_4.5_30" -use_motor "M7DM1" -use_thermal_duty_cycle "M7DM1" \important; overflow-wrap: break-word !important;">-use_stress_duty_cycle "M7DM1" -mugu_active important; overflow-wrap: break-word !important;">
important; overflow-wrap: break-word !important;">-name "M8DM1" -use_current_transfer_function "cur_tr_1.00" \important; overflow-wrap: break-word !important;">-use_current_controller "c_c_fast_1" -use_mains "mains" \important; overflow-wrap: break-word !important;">-use_trafo "trafo_dm1" -use_dc_link "dc_link_ext_dm1" -use_drive_unit "M8DM1" \important; overflow-wrap: break-word !important;">-use_cable "cable_4.5_30" -use_motor "M8DM1" -use_thermal_duty_cycle "M8DM1" \important; overflow-wrap: break-word !important;">-use_stress_duty_cycle "M8DM1" -mugu_active important; overflow-wrap: break-word !important;">#important; overflow-wrap: break-word !important;">MOTOR:important; overflow-wrap: break-word !important;">-name "M7DM1" -use_motor_type "3HAC029924-007" -use_motor_calib "M7DM1" important; overflow-wrap: break-word !important;">-name "M8DM1" -use_motor_type "3HAC029924-007" -use_motor_calib "M8DM1" important; overflow-wrap: break-word !important;">#important; overflow-wrap: break-word !important;">MOTOR_CALIB:important; overflow-wrap: break-word !important;">-name "M7DM1" -com_offset 1.5708 -valid_com_offset -cal_offset 0 important; overflow-wrap: break-word !important;">-name "M8DM1" -com_offset 1.5708 -valid_com_offset -cal_offset 0 important; overflow-wrap: break-word !important;">#important; overflow-wrap: break-word !important;">THERMAL_DUTY_CYCLE:important; overflow-wrap: break-word !important;">-name "M7DM1" important; overflow-wrap: break-word !important;">-name "M8DM1" important; overflow-wrap: break-word !important;">#important; overflow-wrap: break-word !important;">STRESS_DUTY_CYCLE:important; overflow-wrap: break-word !important;">-name "M7DM1" -speed_absolute_max 523.5 -torque_absolute_max 7.5 important; overflow-wrap: break-word !important;">-name "M8DM1" -speed_absolute_max 523.5 -torque_absolute_max 7.5 important; overflow-wrap: break-word !important;">#important; overflow-wrap: break-word !important;">UCCM0:important; overflow-wrap: break-word !important;">-name "M7DM1" -Kp 10 -Kv 1 -Ti 0.1 -speed_max_n 15 -acc_max_n 100 \important; overflow-wrap: break-word !important;">-dec_max_n 100 important; overflow-wrap: break-word !important;">
important; overflow-wrap: break-word !important;">-name "M8DM1" -Kp 10 -Kv 1 -Ti 0.1 -speed_max_n 15 -acc_max_n 100 \important; overflow-wrap: break-word !important;">-dec_max_n 100 important; overflow-wrap: break-word !important;">#important; overflow-wrap: break-word !important;">LCM0:important; overflow-wrap: break-word !important;">-name "M7DM1" -Kp 10 -Kv 1 -Ti 0.1 -ffw_mode 1 important; overflow-wrap: break-word !important;">-name "M8DM1" -Kp 10 -Kv 1 -Ti 0.1 -ffw_mode 1 important; overflow-wrap: break-word !important;">#  更多详情：上海区域高精度变位机生产商
 

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