ABB E3EC HENF315125R1计数器模块
为了区分不同的配置，所有目标都有一个配置值，该值指定每个轴应位于的象限。在目标中存储轴配置对于在将机器人点动到位置后设定的目标，所使用的配置将存储在目标中。通过指定或计算位置和方向创建的目标将获得默认配置值（0,0,0,0），该值可能对到达目标无效。与机器人轴配置相关的常见问题最有可能的是，通过慢跑以外的其他方式创建的目标在其默认配置下无法到达。即使路径中的所有目标都已验证配置，如果机器人无法从一个配置移动到另一个配置，则在运行路径时可能会遇到问题。这很可能发生在直线运动期间轴偏移大于90度的情况下。重新定位的目标保留其配置，但不再验证配置。因此，在移动目标时可能会出现上述问题。
To distinguish between the different configurations, all targets have a configuration value that
specifies the quadrant in which each axis shall be located.
Storing axis configurations in targets
For targets that are taught after jogging the robot to the position, the used configuration will
be stored in the target.
Targets created by specifying or calculating positions and orientations get a default
configuration value (0,0,0,0), which might not be valid for reaching the target.
Common problems related to robot axis configurations
It is most likely that targets created by other ways than jogging cannot be reached at their
default configuration.
Even if all targets in a path have validated configurations, you might encounter problems
when running the path if the robot cannot move from one configuration to the other. This is
likely to occur where an axis shifts greater than 90 degrees during linear movements.
Repositioned targets keep their configuration, but the configurations are no longer validated.
As a result, the problems described above might occur when moving targets.
