使(shi)用(yong)示教(jiao)(jiao)器(qi)(qi)(qi)，二手機(ji)器(qi)(qi)(qi)人廠家，您可以開發(fa)存儲在(zai)示教(jiao)(jiao)器(qi)(qi)(qi)中的(de)(de)程(cheng)序(xu)(xu)(xu)(xu)，然后在(zai)需要(yao)時更輕松(song)快速地運(yun)行。一個這(zhe)樣的(de)(de)程(cheng)序(xu)(xu)(xu)(xu)是(shi)零(ling)(ling)程(cheng)序(xu)(xu)(xu)(xu)。零(ling)(ling)程(cheng)序(xu)(xu)(xu)(xu)將機(ji)器(qi)(qi)(qi)人的(de)(de)每個軸運(yun)行到零(ling)(ling)位置(zhi)(zhi)。零(ling)(ling)程(cheng)序(xu)(xu)(xu)(xu)的(de)(de)一個用(yong)途是(shi)操(cao)作員可以使(shi)用(yong)它來(lai)確(que)保機(ji)器(qi)(qi)(qi)人母帶制作仍然正(zheng)確(que)。機(ji)器(qi)(qi)(qi)人示教(jiao)(jiao)器(qi)(qi)(qi)維(wei)修(xiu)運(yun)行零(ling)(ling)程(cheng)序(xu)(xu)(xu)(xu)是(shi)驗證機(ji)器(qi)(qi)(qi)人掌(zhang)握的(de)(de)良好的(de)(de)步。要(yao)了解有關母帶制作的(de)(de)更多信(xin)息并(bing)確(que)保不丟失(shi)要(yao)點。機(ji)器(qi)(qi)(qi)人示教(jiao)(jiao)器(qi)(qi)(qi)維(wei)修(xiu)在(zai)您輸(shu)入和(he)運(yun)行零(ling)(ling)程(cheng)序(xu)(xu)(xu)(xu)之前：TP必須(xu)為ON，必須(xu)能夠在(zai)機(ji)器(qi)(qi)(qi)人移(yi)動之前重(zhong)置(zhi)(zhi)故障，控制器(qi)(qi)(qi)必須(xu)在(zai)教(jiao)(jiao)學。

ABB機(ji)(ji)器(qi)(qi)人(ren)(ren)(ren)常見問(wen)題及解(jie)決方法：機(ji)(ji)器(qi)(qi)人(ren)(ren)(ren)與相機(ji)(ji)一(yi)般采用socket通(tong)訊(TCP/IP)。所以(yi)機(ji)(ji)器(qi)(qi)人(ren)(ren)(ren)需要有pc-interface選項(xiang)。機(ji)(ji)器(qi)(qi)人(ren)(ren)(ren)在開機(ji)(ji)時(shi)進入了(le)系統故障狀態應該如(ru)(ru)何處(chu)理？1.重新(xin)啟(qi)動一(yi)次機(ji)(ji)器(qi)(qi)人(ren)(ren)(ren)。2.如(ru)(ru)果(guo)不行，二(er)手機(ji)(ji)器(qi)(qi)人(ren)(ren)(ren)價格，在示教器(qi)(qi)查看是否有更詳細的報警提示，并(bing)進行處(chu)理。3.重啟(qi)。4.如(ru)(ru)果(guo)還不能解(jie)除(chu)則(ze)嘗(chang)試(shi)B啟(qi)動。5.如(ru)(ru)果(guo)還不行，請嘗(chang)試(shi)P啟(qi)動。6.如(ru)(ru)果(guo)還不行請嘗(chang)試(shi)I啟(qi)動（這將機(ji)(ji)器(qi)(qi)人(ren)(ren)(ren)回(hui)到出廠設置狀態，阜新(xin)二(er)手機(ji)(ji)器(qi)(qi)人(ren)(ren)(ren)，小心）。

由于機(ji)器人(ren)的(de)(de)控(kong)(kong)(kong)制過程中涉(she)及大量的(de)(de)坐(zuo)標變(bian)換和(he)插補運(yun)算以(yi)及較低層的(de)(de)實時控(kong)(kong)(kong)制，所以(yi)，目前的(de)(de)機(ji)器人(ren)控(kong)(kong)(kong)制系(xi)(xi)統(tong)在結構(gou)上大多(duo)數采(cai)用(yong)(yong)分層結構(gou)的(de)(de)微型計(ji)算機(ji)控(kong)(kong)(kong)制系(xi)(xi)統(tong)，通常(chang)采(cai)用(yong)(yong)的(de)(de)是(shi)(shi)(shi)兩級(ji)計(ji)算機(ji)伺服控(kong)(kong)(kong)制系(xi)(xi)統(tong)，那么二手工業(ye)機(ji)器人(ren)的(de)(de)控(kong)(kong)(kong)制系(xi)(xi)統(tong)及示(shi)教原理分別是(shi)(shi)(shi)什么呢?基于PLC的(de)(de)運(yun)動控(kong)(kong)(kong)制兩種控(kong)(kong)(kong)制方式(shi)：利用(yong)(yong)PLC的(de)(de)某些輸出(chu)端口使(shi)用(yong)(yong)脈沖(chong)輸出(chu)指令來(lai)產生脈沖(chong)驅(qu)動電機(ji)，同時使(shi)用(yong)(yong)通用(yong)(yong)I/O或者(zhe)計(ji)數部件來(lai)實現電機(ji)的(de)(de)閉(bi)環位(wei)置控(kong)(kong)(kong)制或者(zhe)是(shi)(shi)(shi)使(shi)用(yong)(yong)PLC外部擴展的(de)(de)位(wei)置控(kong)(kong)(kong)制模(mo)塊來(lai)實現電機(ji)的(de)(de)閉(bi)環位(wei)置控(kong)(kong)(kong)制主要是(shi)(shi)(shi)以(yi)發高速脈沖(chong)方式(shi)控(kong)(kong)(kong)制，屬于位(wei)置控(kong)(kong)(kong)制方式(shi)，一般點到點的(de)(de)位(wei)置控(kong)(kong)(kong)制方式(shi)較多(duo)。