ABB E3EFa HENF452750R1通道输出卡件
配置问题的常见解决方案要解决上述问题，您可以为每个目标分配一个有效的配置，并验证机器人可以沿着每个路径移动。您还可以关闭配置监视，这意味着您可以忽略存储的配置，让机器人在运行时找到工作配置。如果没有以正确的方式完成，您可能会得到意想不到的结果。在某些情况下，可能没有任何工作配置。然后，可能的解决方案可能是重新定位工件、重新定位目标（如果过程可以接受）或添加一个外部轴，以移动工件或机器人以提高可达性。如何表示配置机器人的轴配置由一系列四个整数表示，指定全回转有效轴位于哪个象限。正（逆时针）旋转的象限从零开始编号，负（顺时针）旋转从-1开始编号。
Common solutions for configuration problems To resolve the problems described above, you can assign a valid configuration to each target and verify that the robot can move along each path. You can also turn configuration monitoring off, which means that you ignore the stored configurations and let the robot find working configurations at runtime. If this is not done the proper way, you might get unexpected results. In some cases there might not be any working configurations. Possible solutions might then be to reposition the work piece, reorient targets (if acceptable for the process) or add an external axis that either moves the work piece or the robot for increasing reachability.How configurations are denoted The robot’s axis configurations are denoted by a series of four integers, specifying in which quadrant of a full revolution significant axes are located. The quadrants are numbered from zero for positive (counterclockwise) rotation and from -1 for negative (clockwise) rotation.
