ABB E3EP HENF315276R1控制模块
对于线性轴，整数指定轴所在的中性位置的范围（以米为单位）。六轴工业机器人（如IRB 140）的配置可能如下：[0-1 2 1]第一个整数（0）指定轴1的位置：在第一个正象限的某个位置（旋转0到90度之间）。第二个整数（-1）指定轴4的位置：位于第一个负象限的某个位置（旋转0到-90度之间）。第三个整数（2）指定轴6的位置：位于第三个正象限的某个位置（旋转180度和270度之间）。第四个整数（1）指定轴x的位置，这是一个虚拟轴，用于指定相对于其他轴的腕部中心。配置监控在执行机器人程序时，您可以选择是否监控配置值。如果配置监控被关闭，与目标一起存储的配置值将被忽略，机器人将使用最接近其当前配置的配置来达到目标。
For a linear axis, the integer specifies the range (in meters) from the neutral position in which
the axis is located.
A configuration for a six-axis industrial robot (like IRB 140) may look like:
[0 -1 2 1]
The first integer (0) specifies the position of axis 1: somewhere in the first positive quadrant
(between 0 and 90 degrees rotation).
The second integer (-1) specifies the position of axis 4: somewhere in the first negative
quadrant (between 0 and -90 degrees rotation).
The third integer (2) specifies the position of axis 6: somewhere in the third positive quadrant
(between 180 and 270 degrees rotation).
The fourth integer (1) specifies the position of axis x, a virtual axis used for specifying the
wrist center in relation to other axes.Configuration monitoring
When executing a robot program, you can choose whether to monitor configuration values.
If configuration monitoring is turned off, configuration values stored with the targets are
ignored, and the robot will use the configuration closest its current configuration for reaching
the target.
