工業機器(qi)(qi)(qi)人(ren)(ren)保養應(ying)從實際需要出發按適(shi)當(dang)的(de)頻度清潔機器(qi)(qi)(qi)人(ren)(ren)示(shi)(shi)教(jiao)器(qi)(qi)(qi)；盡管面板漆膜能耐受(shou)大(da)部分溶劑的(de)腐蝕(shi)，機器(qi)(qi)(qi)人(ren)(ren)配件(jian)(jian)保養，但仍應(ying)避免(mian)接觸(chu)強溶劑；若(ruo)有條件(jian)(jian)，ABB機器(qi)(qi)(qi)人(ren)(ren)示(shi)(shi)教(jiao)器(qi)(qi)(qi)不適(shi)用(yong)時(shi)應(ying)拆下(xia)并放置(zhi)在干(gan)凈(jing)的(de)場(chang)所(suo)。ABB機器(qi)(qi)(qi)人(ren)(ren)保養清洗控制器(qi)(qi)(qi)內部，撫順機器(qi)(qi)(qi)人(ren)(ren)配件(jian)(jian)，應(ying)根(gen)據環境條件(jian)(jian)按適(shi)當(dang)間隔(ge)清潔控制器(qi)(qi)(qi)內部，如每年(nian)一次；機器(qi)(qi)(qi)人(ren)(ren)保養須特別注意(yi)冷(leng)卻風扇(shan)和進風口/出風口清潔。

如果(guo)負載太大，加(jia)減速所需的(de)轉矩就會超過電(dian)機(ji)(ji)(ji)的(de)容量(liang)。檢查(cha)控制器(qi)輸入(ru)電(dian)壓(ya)(ya)是否在額定電(dian)壓(ya)(ya)范圍(wei)內，無缺(que)相。另外，檢查(cha)變壓(ya)(ya)器(qi)的(de)設置是否正確(que)。機(ji)(ji)(ji)器(qi)人示教器(qi)維修檢查(cha)輸入(ru)伺服放大器(qi)的(de)三(san)相電(dian)源(yuan)連(lian)接器(qi)的(de)各(ge)相電(dian)壓(ya)(ya)。檢查(cha)線路電(dian)壓(ya)(ya)。如果(guo)伺服放大器(qi)的(de)輸入(ru)電(dian)壓(ya)(ya)變低，輸出(chu)轉矩也變低。因此，電(dian)機(ji)(ji)(ji)可(ke)能(neng)無法執行命令，從而可(ke)能(neng)引(yin)起警(jing)報。更換伺服放大器(qi)。更換報警(jing)軸電(dian)機(ji)(ji)(ji)。

由于機(ji)(ji)(ji)器(qi)人的(de)(de)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)過程(cheng)中涉及大(da)量的(de)(de)坐(zuo)標變(bian)換(huan)和插補(bu)運算(suan)以及較低層的(de)(de)實時控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)，所以，目前的(de)(de)機(ji)(ji)(ji)器(qi)人控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)系(xi)(xi)(xi)統(tong)(tong)在結構上大(da)多數(shu)采用(yong)分層結構的(de)(de)微(wei)型計(ji)算(suan)機(ji)(ji)(ji)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)系(xi)(xi)(xi)統(tong)(tong)，通(tong)常采用(yong)的(de)(de)是兩(liang)級計(ji)算(suan)機(ji)(ji)(ji)伺服控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)系(xi)(xi)(xi)統(tong)(tong)，那么二手工業機(ji)(ji)(ji)器(qi)人的(de)(de)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)系(xi)(xi)(xi)統(tong)(tong)及示教(jiao)原(yuan)理分別是什么呢?基于PLC的(de)(de)運動控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)兩(liang)種控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)方(fang)(fang)式(shi)(shi)：利用(yong)PLC的(de)(de)某(mou)些輸出端口使用(yong)脈沖輸出指令(ling)來(lai)產生脈沖驅動電(dian)機(ji)(ji)(ji)，機(ji)(ji)(ji)器(qi)人配件(jian)維(wei)修，同時使用(yong)通(tong)用(yong)I/O或者計(ji)數(shu)部件(jian)來(lai)實現電(dian)機(ji)(ji)(ji)的(de)(de)閉(bi)環位(wei)置(zhi)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)或者是使用(yong)PLC外部擴展的(de)(de)位(wei)置(zhi)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)模塊(kuai)來(lai)實現電(dian)機(ji)(ji)(ji)的(de)(de)閉(bi)環位(wei)置(zhi)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)主要是以發高(gao)速脈沖方(fang)(fang)式(shi)(shi)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)，屬(shu)于位(wei)置(zhi)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)方(fang)(fang)式(shi)(shi)，一般點到點的(de)(de)位(wei)置(zhi)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)方(fang)(fang)式(shi)(shi)較多。