fanuc机器人sv off设置问题.doc
2页
FANUC机器人SV OFF设置问题（D1-61C）MENU-SYSTEM-VARIABLES24日我们在现场做了如下修改：1. 将sv_off_time中J6轴的数据改为60000（默认是20000ms）2. 将sv_off_enb中J6轴改为FALSE（默认是TRUE）[可能把默认记错，我们只修改了J6，先查看下其他轴是什么状态，是否是TRUE]以上步骤完成后，还需要你完成一个工作将sv_off_all改为FALSE（跟第二步一样）全部修改后，重启机器人注释：修改这个参数的意思就是将J6轴伺服断电的时间延长因为目前机器人总是在上料等待点等待很长时间，然后再运动时发生报警SRVO-050(G:1 A:6)如果这个等待时间超过20000ms，那么J6轴电机会切断伺服电，改由抱闸来锁定电机转动；那么再运动时，需要先松开抱闸再通伺服电启动电机目前这个报警可能原因就是因为松开抱闸和伺服上电的时间不同步，将伺服断电的时间修改为比等待时间长可以解决这个报警的发生这个60000ms是我们自己设想的，具体的要到现场测量再去修改以下是这3个参数的资料PARAM_GROUP[1].$sv_off_all Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOSName: All Axes Control Switch for Automatic Servo on/offDescription: If $sv_off_all is set to TRUE, automatic servo on/off will be applied to all axes simultaneously. If $sv_off_all is set to FALSE, automatic servo on/off will be applied to individual axes.Power Up: On_Cold_Start$PARAM_GROUP[1].$sv_off_enb[9] Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: RW UIF: Not available CRTL: Not available Data Type: BOOLEAN Memory: Not availableName: Servo Off EnableDescription: $sv_off_enb controls whether or not each servo motor uses a timed servo shutdown feature. It is used with $sv_off_time to shut off servo motors after motion has been completed. This feature is used primarily for energy saving purposes.Power Up: Requires a cold start to take effect.$PARAM_GROUP[1].$sv_off_time[9] Minimum: 0 Maximum: 100000000 Default: 10000 KCL/Data: RW Program: RW UIF: Not available CRTL: Not available Data Type: INTEGER Memory: Not availableName: Servo Off TimeDescription: $sv_off_time defines the time interval, in milliseconds, after which the servo motors are shut down.Power Up: Requires a cold start to take effect.。
