{"id":125352,"date":"2025-03-31T15:33:36","date_gmt":"2025-03-31T07:33:36","guid":{"rendered":"https:\/\/www.tm-robot.com\/docs\/guideline-for-using-external-axis\/"},"modified":"2026-02-05T10:29:20","modified_gmt":"2026-02-05T02:29:20","slug":"guideline-for-using-external-axis","status":"publish","type":"docs","link":"https:\/\/www2.tm-robot.com\/zh-hant\/docs\/guideline-for-using-external-axis\/","title":{"rendered":"TM \u5916\u90e8\u8ef8\u4f7f\u7528\u6307\u5357"},"content":{"rendered":"<p>\u4ee5\u4e0b\u7bc4\u4f8b\u57fa\u65bc:<\/p>\n<p>TMflow \u8edf\u9ad4\u7248\u672c: 2.22.2400 \u6216\u66f4\u65b0\u7248\u672c<\/p>\n<p><span style=\"color: #ff0000;\">TM Robot \u786c\u9ad4\u7248\u672c: HW5.02 \u6216\u66f4\u65b0\u7248\u672c<\/span><\/p>\n<p>\u5176\u9918\u9700\u6c42\uff1a\u53c3\u8003<strong><em>\u6e96\u5099<\/em><\/strong>\u7ae0\u7bc0<\/p>\n<p>\u6ce8\u610f\u4e8b\u98051\uff1a\u4e0d\u540c\u7248\u672c\u8edf\u9ad4\u53ef\u80fd\u6703\u6709\u4e0d\u540c\u7d50\u679c\u3002<\/p>\n<p>\u6ce8\u610f\u4e8b\u98052\uff1aTM\u4e0d\u63d0\u4f9b\u5916\u90e8\u8ef8\u7684\u786c\u9ad4\u3002\u6574\u5408\u5546\u5fc5\u9808\u81ea\u884c\u6e96\u5099\u3002<\/p>\n<p>\u6ce8\u610f\u4e8b\u98053\uff1a\u5916\u90e8\u8ef8\u529f\u80fd\u53ea\u80fd\u5728\u771f\u5be6\u786c\u9ad4\u4e0a\u4f7f\u7528\uff0c\u7121\u6cd5\u5728TMflow Simulator(\u6a21\u64ec\u5668)\u4f7f\u7528\u3002<\/p>\n<hr \/>\n<h1>\u76ee\u6a19<\/h1>\n<p>\u7cfb\u7d71\u5546\u53ef\u4ee5\u4f9d\u64da\u6b64\u6307\u5f15\u53bb\u6574\u5408\u5916\u90e8\u8ef8\uff081\u8ef8\u62162\u8ef8\uff09\uff0c\u4f7fTM\u6a5f\u5668\u4eba\u53ef\u4ee5\u9032\u884c\u8207\u5916\u90e8\u8ef8\u540c\u52d5\u7684\u4efb\u52d9\u3002\u9069\u5408\u7528\u5728\u710a\u63a5\u3001\u5857\u81a0\u7b49\u9700\u8981\u8f03\u8907\u96dc\u904b\u52d5\u7684\u5834\u666f\u3002<\/p>\n<figure id=\"attachment_125059\" aria-describedby=\"caption-attachment-125059\" style=\"width: 388px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743392350124.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-125059\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743392350124.jpg\" alt=\"\" width=\"388\" height=\"517\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743392350124.jpg 388w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743392350124-225x300.jpg 225w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743392350124-360x480.jpg 360w\" sizes=\"(max-width: 388px) 100vw, 388px\" \/><\/a><figcaption id=\"caption-attachment-125059\" class=\"wp-caption-text\">TM12S \u8207\u5916\u90e8\u8ef8<\/figcaption><\/figure>\n<h1>\u8853\u8a9e<\/h1>\n<table width=\"0\">\n<tbody>\n<tr>\n<td width=\"198\">\u540d\u7a31<\/td>\n<td width=\"378\">\u63cf\u8ff0<\/td>\n<\/tr>\n<tr>\n<td width=\"198\">\u5916\u90e8\u8ef8\/AUX<\/td>\n<td width=\"378\">\u5916\u90e8\u8ef8\u7684\u786c\u9ad4<\/td>\n<\/tr>\n<tr>\n<td width=\"198\">Positioner Node\/Toolbar<\/td>\n<td width=\"378\">\u4f7f\u7528TMcraft API\u88fd\u4f5c\u7684\u5916\u90e8\u8ef8\u63a7\u5236\u5c08\u7528\u754c\u9762<\/td>\n<\/tr>\n<tr>\n<td width=\"198\">Base<\/td>\n<td width=\"378\">\u7576\u4e0b\u555f\u7528\u7684\u53c3\u8003\u5ea7\u6a19\u7cfb<\/td>\n<\/tr>\n<tr>\n<td width=\"198\">TCP<\/td>\n<td width=\"378\">\u5de5\u5177\u4e2d\u5fc3<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>&nbsp;<\/p>\n<h1><strong>\u66f4\u6539\u65e5\u8a8c<\/strong><\/h1>\n<p>&nbsp;<\/p>\n<table width=\"0\">\n<tbody>\n<tr>\n<td width=\"198\">\u65e5\u671f<\/td>\n<td width=\"378\">\u63cf\u8ff0<\/td>\n<\/tr>\n<tr>\n<td width=\"198\">March 26 2025<\/td>\n<td width=\"378\">\u7b2c\u4e00\u7248<\/td>\n<\/tr>\n<tr>\n<td width=\"198\">February 5 2026<\/td>\n<td width=\"378\">\n<ul>\n<li>\u4fee\u6539 TMcraft Package:<\/li>\n<li>Node V1.0.0.1, \u4fee\u6b63PTP\u7684\u5750\u6a19\u7cfb\u554f\u984c<\/li>\n<li>Toolbar V1.0.2, \u517c\u5bb91\u8ef8\u82072\u8ef8<\/li>\n<li>\u7ae0\u7bc0\u4e2d\u589e\u52a0\u65b0\u7684\u8cc7\u8a0a\uff1a<em><strong>\u786c\u9ad4\u5b89\u88dd<\/strong><strong><em>\u3001<\/em>\u8a2d\u5b9a\u99ac\u9054\u53c3\u6578<\/strong><\/em><\/li>\n<\/ul>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>&nbsp;<\/p>\n<h1>\u6e96\u5099<\/h1>\n<p>\u6ce8\u610f\u4e8b\u9805\uff1a<\/p>\n<ul>\n<li>TMflow2.22.2400 \u8207 HW5.0 TM\u6a5f\u5668\u4eba<\/li>\n<li>\u4e0b\u8f09<strong>Positioner Node\/Toolbar Package<\/strong> \u4e26\u653e\u5230\u96a8\u8eab\u789f\u00a0<strong><em><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/TM_Export01.zip\">Download Here<\/a> <a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/chain-link-1.jpg\"><img loading=\"lazy\" class=\" wp-image-125084 alignnone\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/chain-link-1.jpg\" alt=\"\" width=\"22\" height=\"22\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/chain-link-1.jpg 156w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/chain-link-1-150x150.jpg 150w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/chain-link-1-100x100.jpg 100w\" sizes=\"(max-width: 22px) 100vw, 22px\" \/><\/a><\/em>\u00a0<\/strong><\/li>\n<li>\u5916\u90e8\u8ef8\u7684\u786c\u9ad4<span style=\"color: #ff0000;\"> (\u50c5\u652f\u63f4Yaskawa \u4f3a\u670d\u99ac\u9054\u2013 Sigma X EtherCAT)<\/span><\/li>\n<li>\u96fb\u8166\u8207\u4f3a\u670d\u99ac\u9054\u7684\u8a2d\u5b9a\u8edf\u9ad4<\/li>\n<li>\u4f3a\u670d\u99ac\u9054\u7684\u786c\u9ad4\u914d\u7dda<\/li>\n<li>\u4f7f\u7528\u6b63\u78ba\u7684TCP\u8207Base\u53c3\u6578<\/li>\n<\/ul>\n<p>Related materials:<\/p>\n<ul>\n<li><strong><em>TMflow Software Manual<\/em><\/strong> &#8211; \u00a0TMflow\u7684\u57fa\u672c\u64cd\u4f5c\u624b\u518a\u3002<\/li>\n<li><strong><em>TMscript for Auxiliary Axis <\/em><\/strong>\u2013 TMscript\u5916\u90e8\u8ef8\u6307\u4ee4\u3002\u00a0<strong><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/TMscript_Aux_Beta_20250307.pdf\"><em>Download Here<\/em><\/a> <a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/chain-link-1.jpg\"><img loading=\"lazy\" class=\"wp-image-125084 alignnone\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/chain-link-1.jpg\" alt=\"\" width=\"22\" height=\"22\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/chain-link-1.jpg 156w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/chain-link-1-150x150.jpg 150w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/chain-link-1-100x100.jpg 100w\" sizes=\"(max-width: 22px) 100vw, 22px\" \/><\/a>\u00a0<\/strong><\/li>\n<li><strong><em>Source Code of TMcraft Package <\/em><\/strong>\u2013\u5916\u90e8\u8ef8Node\/Toolbar (Positioner Node\/Toolbar)\u7684\u539f\u59cb\u78bc\u3002\u00a0<strong><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/Source-Code-1.zip\"><em>Download Here<\/em><\/a> <a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/chain-link-1.jpg\"><img loading=\"lazy\" class=\" wp-image-125084 alignnone\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/chain-link-1.jpg\" alt=\"\" width=\"22\" height=\"22\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/chain-link-1.jpg 156w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/chain-link-1-150x150.jpg 150w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/chain-link-1-100x100.jpg 100w\" sizes=\"(max-width: 22px) 100vw, 22px\" \/><\/a><\/strong><\/li>\n<li><strong><em>TMcraft API <\/em><\/strong>\u2013 \u6b64TMcraft API \u70ba\u6e2c\u8a66\u7248\u672c\u529f\u80fd\uff0c\u7279\u5225\u589e\u52a0\u5916\u90e8\u8ef8\u7684\u63a7\u5236\u547d\u4ee4\u3002\u8acb\u53c3\u8003\u5728<strong><em>Source Code<\/em><\/strong> \u88e1\u7684\u7bc4\u4f8b\u4f86\u7372\u5f97\u66f4\u591a\u8a0a\u606f\u3002<\/li>\n<\/ul>\n<h1><strong>\u5916\u90e8\u8ef8\u884c\u70ba<\/strong><\/h1>\n<ul>\n<li>\u5916\u90e8\u8ef8\u8207\u6a5f\u5668\u4eba\u662f\u4e00\u9ad4\u7684\u3002\u5c0d\u6a5f\u5668\u4eba\u57f7\u884c\uff1a\u7dca\u6025\u505c\u6b62\u3001\u505c\u6b62\u3001\u66ab\u505c\u3001\u555f\u52d5\u7b49\u884c\u70ba\u3001\u90fd\u6703\u540c\u6b65\u5728\u5916\u90e8\u8ef8\u751f\u6548\u3002<\/li>\n<li>\u7576\u6a5f\u5668\u4eba\u8207\u5916\u90e8\u8ef8\u540c\u52d5\u6642\uff0cTCP\u901f\u5ea6\u6703\u662f\u76f8\u5c0d\u65bc\u5916\u90e8\u8ef8\u7684\u8f49\u53f0\u4e2d\u5fc3\u4f86\u8a08\u7b97\u3002\u4f8b\u5982\uff0c\u5982\u679c\u7d55\u5c0d\u901f\u5ea6\u8a2d\u70ba10mm\/s\uff0c\u4e14\u5916\u90e8\u8ef8\u6b63\u5728\u65cb\u8f49\uff0c\u5247TCP\u6703\u76f8\u5c0d\u65bc\u8f49\u53f0\u4e2d\u5fc3\u9032\u884c10mm\/s\u7684\u904b\u52d5\u3002<\/li>\n<li>\u5916\u90e8\u8ef8\u53ef\u4ee5\u7368\u7acb\u9032\u884c\u79fb\u52d5\u3002<\/li>\n<\/ul>\n<h1><strong>\u64cd\u4f5c\u5916\u90e8\u8ef8\u7684\u5de5\u4f5c\u6d41\u7a0b<\/strong><\/h1>\n<p>\u5728\u64cd\u4f5c\u5916\u90e8\u8ef8\u4e4b\u524d\uff0c\u6709\u4e9b\u8edf\u786c\u9ad4\u6d41\u7a0b\u5fc5\u9808\u5148\u5b8c\u6210\u3002\u63a5\u4e0b\u4f86\u6703\u9032\u4e00\u6b65\u4ecb\u7d39\u3002<\/p>\n<figure id=\"attachment_125108\" aria-describedby=\"caption-attachment-125108\" style=\"width: 815px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/work-flow-for-operating-AUX.jpg\"><img loading=\"lazy\" class=\"wp-image-125108 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/work-flow-for-operating-AUX.jpg\" alt=\"\" width=\"815\" height=\"654\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/work-flow-for-operating-AUX.jpg 815w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/work-flow-for-operating-AUX-300x241.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/work-flow-for-operating-AUX-768x616.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/work-flow-for-operating-AUX-360x289.jpg 360w\" sizes=\"(max-width: 815px) 100vw, 815px\" \/><\/a><figcaption id=\"caption-attachment-125108\" class=\"wp-caption-text\"><strong>\u5916\u90e8\u8ef8\u64cd\u4f5c\u6d41\u7a0b<\/strong><\/figcaption><\/figure>\n<h2>\u786c\u9ad4\u5b89\u88dd Install Hardware<\/h2>\n<p>\u984d\u5916\u7684\u786c\u9ad4\u5fc5\u9808\u8981\u5148\u6e96\u5099\u597d\uff1a<\/p>\n<ul>\n<li>1\u62162\u8ef8\u7684Yaskawa\u4f3a\u670d\u99ac\u9054(Sigma-X\u7cfb\u5217)<\/li>\n<\/ul>\n<figure id=\"attachment_125114\" aria-describedby=\"caption-attachment-125114\" style=\"width: 690px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/2-axis-AUX-1.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-125114\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/2-axis-AUX-1.jpg\" alt=\"\" width=\"690\" height=\"432\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/2-axis-AUX-1.jpg 690w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/2-axis-AUX-1-300x188.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/2-axis-AUX-1-360x225.jpg 360w\" sizes=\"(max-width: 690px) 100vw, 690px\" \/><\/a><figcaption id=\"caption-attachment-125114\" class=\"wp-caption-text\"><strong>\u00a02-\u8ef8\u5916\u90e8\u8ef8\u7bc4\u4f8b<\/strong><\/figcaption><\/figure>\n<ul>\n<li>\u5728\u6b64\u7bc4\u4f8b\u4e2d\uff0c\u63a1\u7528\u4ee5\u4e0b\u578b\u865f:\n<ul>\n<li>\u6416\u64fa\u8ef8(AUX1)\u9a45\u52d5\u5668: SGDXS-7R6AA0A<\/li>\n<li>\u6416\u64fa\u8ef8(AUX1)\u4f3a\u670d\u99ac\u9054: SGMXG-09AUA6CC2<\/li>\n<li>\u65cb\u8f49\u8ef8(AUX2)\u9a45\u52d5\u5668: SGDXS-2R8AA0A<\/li>\n<li>\u6416\u64fa\u8ef8(AUX2)\u4f3a\u670d\u99ac\u9054: SGMXJ-04AUA6EC2<\/li>\n<\/ul>\n<\/li>\n<li>\u63a5\u7dda\u7bc4\u4f8b\uff1a<\/li>\n<\/ul>\n<figure id=\"attachment_125120\" aria-describedby=\"caption-attachment-125120\" style=\"width: 1650px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/wiring-example-for-yaskawa-servo-1.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-125120\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/wiring-example-for-yaskawa-servo-1.jpg\" alt=\"\" width=\"1650\" height=\"1636\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/wiring-example-for-yaskawa-servo-1.jpg 1650w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/wiring-example-for-yaskawa-servo-1-300x297.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/wiring-example-for-yaskawa-servo-1-1024x1015.jpg 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/wiring-example-for-yaskawa-servo-1-150x150.jpg 150w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/wiring-example-for-yaskawa-servo-1-768x761.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/wiring-example-for-yaskawa-servo-1-360x357.jpg 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/wiring-example-for-yaskawa-servo-1-1536x1523.jpg 1536w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/wiring-example-for-yaskawa-servo-1-100x100.jpg 100w\" sizes=\"(max-width: 1650px) 100vw, 1650px\" \/><\/a><figcaption id=\"caption-attachment-125120\" class=\"wp-caption-text\"><strong>Yaskawa \u4f3a\u670d\u7cfb\u7d71\u63a5\u7dda\u7bc4\u4f8b<\/strong><\/figcaption><\/figure>\n<figure id=\"attachment_125126\" aria-describedby=\"caption-attachment-125126\" style=\"width: 833px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743402174873.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-125126\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743402174873.jpg\" alt=\"\" width=\"833\" height=\"570\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743402174873.jpg 833w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743402174873-300x205.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743402174873-768x526.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743402174873-360x246.jpg 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743402174873-320x220.jpg 320w\" sizes=\"(max-width: 833px) 100vw, 833px\" \/><\/a><figcaption id=\"caption-attachment-125126\" class=\"wp-caption-text\"><strong>\u4f3a\u670d\u7cfb\u7d71\u8207TM\u6a5f\u5668\u4eba\u7684\u9023\u7dda\u7bc4\u4f8b<\/strong><\/figcaption><\/figure>\n<p>\u8acb\u53c3\u8003Yaskawa\u624b\u518a\u4ee5\u7372\u5f97\u66f4\u591a\u5b89\u88dd\u4e0a\u7684\u8aaa\u660e\u3002<\/p>\n<p>&nbsp;<\/p>\n<h3>\u9023\u63a5\u5230TM\u6a5f\u5668\u4eba<\/h3>\n<p>\u4f7f\u7528EtherCAT\u7dda\uff0c\u4f86\u9023\u63a5\u4f3a\u670d\u9a45\u52d5\u5668\u8207TM\u6a5f\u5668\u4eba\u3002TM\u6a5f\u5668\u4eba\u7684EtherCAT\u5b54\u4f4d\u5982\u4e0b\u5716\u3002<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/S__71327748_0-rotated.jpg\"><img loading=\"lazy\" class=\"wp-image-134618 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/S__71327748_0-rotated.jpg\" alt=\"\" width=\"624\" height=\"468\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/S__71327748_0-rotated.jpg 1477w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/S__71327748_0-300x225.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/S__71327748_0-1024x768.jpg 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/S__71327748_0-768x576.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/S__71327748_0-360x270.jpg 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/S__71327748_0-600x450.jpg 600w\" sizes=\"(max-width: 624px) 100vw, 624px\" \/><\/a><\/p>\n<h3 id=\"9-toc-title\" class=\"betterdocs-content-heading\">\u715e\u8eca\u63a7\u5236(\u53ef\u9078)<\/h3>\n<ul>\n<li>\u5982\u679c\u4f3a\u670d\u7cfb\u7d71\u642d\u914d\u96fb\u78c1\u524e\u8eca\uff0c\u9808\u5c07\u524e\u8eca\u7dda\u9023\u63a5\u5230\u60a8\u7684\u5b89\u5168\u8ff4\u8def\u4e0a\u3002<\/li>\n<li>\u4f8b\u5982\uff0c\u9023\u63a524V+\u82070V\u5230\u524e\u8eca\u4e0a(B+\/B-)\u3001\u4e26\u9023\u63a5\u5230\u5b89\u5168\u7e7c\u96fb\u5668\u8207\u7dca\u6025\u505c\u6b62\u8ff4\u8def\u4e0a\u3002<\/li>\n<li>TM\u6a5f\u5668\u4eba\u6703\u5c0d\u65bc\u4f3a\u670d\u7cfb\u7d71\u9032\u884ccategory 1 stop\u3002\u5982\u679cTM\u6a5f\u5668\u4eba\u7dca\u6025\u505c\u6b62\u88ab\u89f8\u767c\uff0c\u4f3a\u670d\u7cfb\u7d71\u6703\u540c\u6642\u9032\u884ccategory 1 stop\u3002<\/li>\n<\/ul>\n<h2><strong>\u8a2d\u5b9a\u4f3a\u670d\u99ac\u9054\u53c3\u6578 <\/strong>Configure Servo Settings<\/h2>\n<ol>\n<li>\u5728\u96fb\u8166\u4e0a\u5b89\u88ddYaskawa\u4f3a\u670d\u99ac\u9054\u8a2d\u5b9a\u8edf\u9ad4(Sigma Win+)\u3002<\/li>\n<li>\u4f7f\u7528USB \u7dda\u9023\u63a5\u5230\u4f3a\u670d\u99ac\u9054\u9a45\u52d5\u5668\uff0c\u5728\u8edf\u9ad4\u4e0a\u57f7\u884c\u4f3a\u670d\u8abf\u6821\uff08servo turning\uff09\u3002<\/li>\n<li>\u5728Pn20E\u6b04\u4f4d\u8f38\u5165\u9f52\u8f2a\u7bb1\u7684\u9f52\u8f2a\u6bd4\u3002<\/li>\n<li>\u5728\u8edf\u9ad4\u4e0a\u8a2d\u5b9a\u539f\u9ede\u3002<\/li>\n<li>\u4f9d\u4e0b\u8868\u53c3\u6578\u9032\u884c\u8a2d\u5b9a\uff0c\u7136\u5f8c\u91cd\u555f\u4f3a\u670d\u99ac\u9054\u9a45\u52d5\u5668\u3002<\/li>\n<\/ol>\n<table>\n<tbody>\n<tr>\n<td width=\"238\">\u53c3\u6578<\/td>\n<td width=\"210\"><strong>\u503c<\/strong><\/td>\n<\/tr>\n<tr>\n<td width=\"238\">Pn000.0<\/td>\n<td width=\"210\">\u4f7f\u7528\u53f3\u624b\u5b9a\u5247\uff0c\u6c7a\u5b9a\u99ac\u9054\u6b63\u8ca0\u8f49\u65b9\u5411(0\/1)<\/td>\n<\/tr>\n<tr>\n<td width=\"238\">Pn20E<\/td>\n<td width=\"210\">183<\/p>\n<p>\/\/\u9f52\u8f2a\u6bd4<\/td>\n<\/tr>\n<tr>\n<td width=\"238\">Pn210\/Pn21D.0<\/td>\n<td width=\"210\">1<\/td>\n<\/tr>\n<tr>\n<td width=\"238\">Pn21D.1<\/td>\n<td width=\"210\">4<\/td>\n<\/tr>\n<tr>\n<td width=\"238\">Pn50A.3\/Pn50B.0<\/td>\n<td width=\"210\">8<\/td>\n<\/tr>\n<tr>\n<td width=\"238\">PnB18(6060h)<\/td>\n<td width=\"210\">8<\/td>\n<\/tr>\n<tr>\n<td width=\"238\">PnB48<\/td>\n<td width=\"210\">-53687090912<\/td>\n<\/tr>\n<tr>\n<td width=\"238\">PnB4A<\/td>\n<td width=\"210\">53687090911<\/td>\n<\/tr>\n<tr>\n<td width=\"238\">PnBBE<\/td>\n<td width=\"210\">-2147483648<\/td>\n<\/tr>\n<tr>\n<td width=\"238\">PnBC0<\/td>\n<td width=\"210\">2147483647<\/td>\n<\/tr>\n<tr>\n<td width=\"238\">PnC70<\/td>\n<td width=\"210\">603F0010 H<\/td>\n<\/tr>\n<tr>\n<td width=\"238\">PnCA4<\/td>\n<td width=\"210\">9<\/td>\n<\/tr>\n<tr>\n<td width=\"238\">PnCB6<\/td>\n<td width=\"210\">1600 H<\/td>\n<\/tr>\n<tr>\n<td width=\"238\">PnCBC<\/td>\n<td width=\"210\">1A00 H<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/11.png\"><img loading=\"lazy\" class=\"size-full wp-image-134630 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/11.png\" alt=\"\" width=\"782\" height=\"559\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/11.png 782w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/11-300x214.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/11-768x549.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/11-360x257.png 360w\" sizes=\"(max-width: 782px) 100vw, 782px\" \/><\/a><\/p>\n<p style=\"text-align: center;\"><strong>Sigma Win+ \u53c3\u6578\u8a2d\u5b9a\u756b\u9762\u7bc4\u4f8b<\/strong><\/p>\n<p>&nbsp;<\/p>\n<h3>\u00a0\u4f3a\u670d\u99ac\u9054\u7cfb\u7d71\u6aa2\u67e5 Servo System Check<\/h3>\n<p>\u78ba\u4fdd\u57287\u6bb5\u986f\u793a\u5668\u4e0a\u7121\u4efb\u4f55\u932f\u8aa4\u78bc<\/p>\n<p><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/S__71327747_0-rotated.jpg\"><img loading=\"lazy\" class=\"wp-image-134624 aligncenter\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/S__71327747_0-rotated.jpg\" alt=\"\" width=\"337\" height=\"252\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/S__71327747_0-rotated.jpg 1477w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/S__71327747_0-300x225.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/S__71327747_0-1024x768.jpg 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/S__71327747_0-768x576.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/S__71327747_0-360x270.jpg 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/S__71327747_0-600x450.jpg 600w\" sizes=\"(max-width: 337px) 100vw, 337px\" \/><\/a><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<h2><strong>\u532f\u5165 TMcraft \u8edf\u9ad4\u5305 Import TMcraft Package<\/strong><\/h2>\n<ol>\n<li>[\u5728\u96fb\u8166\u4e0a] \u6e96\u5099\u4e00\u500b\u96a8\u8eab\u789f\uff0c\u4e26\u547d\u540d\u70baTMROBOT\u3002<\/li>\n<li>\u89e3\u58d3\u7e2e\u6a94\u6848\uff08\u6a94\u6848\u5728<strong><em>\u6e96\u5099<\/em><\/strong>\u88e1\uff09\uff0c\u8907\u88fd\u8cc7\u6599\u593e<strong><em>TM_Export<\/em><\/strong> \u5230\u96a8\u8eab\u789f\u7684\u6839\u76ee\u9304\u3002<\/li>\n<li>[\u5728\u6a5f\u5668\u4eba\u4e0a] \u5728TMflow2\u4e0a\uff0c\u5230<strong><em>Menu\/System\/Import<\/em><\/strong>\uff0c\u532f\u5165\u4e09\u500b\u6a94\u6848 :\n<p><figure id=\"attachment_125144\" aria-describedby=\"caption-attachment-125144\" style=\"width: 748px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743403385618.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-125144\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743403385618.jpg\" alt=\"\" width=\"748\" height=\"422\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743403385618.jpg 748w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743403385618-300x169.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743403385618-360x203.jpg 360w\" sizes=\"(max-width: 748px) 100vw, 748px\" \/><\/a><figcaption id=\"caption-attachment-125144\" class=\"wp-caption-text\"><strong>TMcraft \u8edf\u9ad4\u5305<\/strong><\/figcaption><\/figure><\/li>\n<li>\u5230 <strong>Menu\/Configuration\/TMcraft Management<\/strong>\uff0c \u555f\u7528\u5169\u500bnode\u8207\u4e00\u500btoolbar\u3002\n<p><figure id=\"attachment_125150\" aria-describedby=\"caption-attachment-125150\" style=\"width: 851px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743403531893.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-125150\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743403531893.jpg\" alt=\"\" width=\"851\" height=\"399\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743403531893.jpg 851w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743403531893-300x141.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743403531893-768x360.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743403531893-360x169.jpg 360w\" sizes=\"(max-width: 851px) 100vw, 851px\" \/><\/a><figcaption id=\"caption-attachment-125150\" class=\"wp-caption-text\"><strong>\u555f\u7528 TMcraft Node\/Toolbar<\/strong><\/figcaption><\/figure><\/li>\n<li>\u5b8c\u6210\u5f8c\uff0c\u61c9\u8a72\u770b\u5230\u4e0b\u9762\u7684\u756b\u9762 :\n<p><figure id=\"attachment_125156\" aria-describedby=\"caption-attachment-125156\" style=\"width: 866px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/tmcraft-package.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-125156\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/tmcraft-package.jpg\" alt=\"\" width=\"866\" height=\"510\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/tmcraft-package.jpg 866w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/tmcraft-package-300x177.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/tmcraft-package-768x452.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/tmcraft-package-360x212.jpg 360w\" sizes=\"(max-width: 866px) 100vw, 866px\" \/><\/a><figcaption id=\"caption-attachment-125156\" class=\"wp-caption-text\"><strong>TMcraft \u8edf\u9ad4\u5305\u555f\u7528\u6210\u529f<\/strong><\/figcaption><\/figure><\/li>\n<\/ol>\n<h2><strong>\u6821\u6b63\u5916\u90e8\u8ef8<\/strong>Calibrate for AUX<\/h2>\n<ol>\n<li>[\u4f3a\u670d\u99ac\u9054\u9a45\u52d5\u5668\u4e0a] \u6253\u958b\u96fb\u6e90\u4e26\u78ba\u8a8d\u9a45\u52d5\u5668\u4e0a\u6c92\u6709\u4efb\u4f55\u932f\u8aa4\u78bc\u3002<\/li>\n<li>[\u5728\u6a5f\u5668\u4eba\u4e0a] \u6821\u6b63TCP\u3002\u4e26\u78ba\u4fdd\u8a72 TCP \u5df2\u555f\u7528\u3002\n<p><figure id=\"attachment_125162\" aria-describedby=\"caption-attachment-125162\" style=\"width: 322px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743403875652.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-125162\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743403875652.jpg\" alt=\"\" width=\"322\" height=\"483\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743403875652.jpg 322w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743403875652-200x300.jpg 200w\" sizes=\"(max-width: 322px) 100vw, 322px\" \/><\/a><figcaption id=\"caption-attachment-125162\" class=\"wp-caption-text\"><strong>\u555f\u7528\u6b63\u78ba\u7684 TCP<\/strong><\/figcaption><\/figure><\/li>\n<li>\u5230Positioner toolbar\uff0c\u79fb\u52d5 [AUX1, AUX2] \u5230 [0, 0] \u4f4d\u7f6e\u3002\u6309\u8457PLAY\u5716\u793a\u6216\uff0b-\u4f86\u79fb\u52d5\u5916\u90e8\u8ef8\u3002\n<p><figure id=\"attachment_125168\" aria-describedby=\"caption-attachment-125168\" style=\"width: 837px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404090587.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-125168\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404090587.jpg\" alt=\"\" width=\"837\" height=\"472\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404090587.jpg 837w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404090587-300x169.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404090587-768x433.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404090587-360x203.jpg 360w\" sizes=\"(max-width: 837px) 100vw, 837px\" \/><\/a><figcaption id=\"caption-attachment-125168\" class=\"wp-caption-text\"><strong>\u79fb\u52d5\u5916\u90e8\u8ef8\u5230\u539f\u9ede<\/strong><\/figcaption><\/figure><\/li>\n<li>\u5728\u8f49\u76e4\uff08AUX2\uff09\u7684\u908a\u7de3\uff0c\u4ee5\u4e0b\u662f\u6ce8\u610f\u4e8b\u9805\uff1a\n<ol>\n<li>\u627e\u500b\u4e00\u500b\u5c16\u92b3\u7684\u53c3\u8003\u9ede\uff0c\u65b9\u4fbf\u5f8c\u7e8c\u8089\u773c\u53bb\u5c0d\u9f4a\u3002<\/li>\n<li>\u5982\u679c\u662f\u5169\u8ef8\u5916\u90e8\u8ef8\uff0c\u5713\u5468\u4e0a\u4efb\u610f\u9ede\u5747\u53ef\u3002<\/li>\n<li>\u5982\u679c\u662f\u4e00\u8ef8\u5916\u90e8\u8ef8\uff0c\u53c3\u8003\u9ede\u5fc5\u9808\u8a2d\u5b9a\u5728+X\u8ef8\u7684\u4f4d\u7f6e\u3002<\/li>\n<li>\u5728\u53c3\u8003\u9ede\u4e0a\u4f5c\u8a18\u865f\uff0c\u65b9\u4fbf\u5f8c\u7e8c\u6821\u6b63\u6d41\u7a0b\u53c3\u8003\u3002\n<p><figure id=\"attachment_125174\" aria-describedby=\"caption-attachment-125174\" style=\"width: 483px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404251552.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-125174\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404251552.jpg\" alt=\"\" width=\"483\" height=\"570\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404251552.jpg 483w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404251552-254x300.jpg 254w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404251552-360x425.jpg 360w\" sizes=\"(max-width: 483px) 100vw, 483px\" \/><\/a><figcaption id=\"caption-attachment-125174\" class=\"wp-caption-text\"><strong>\u5728\u5916\u90e8\u8ef8\u4e0a\u627e\u5230\u9069\u5408\u7684\u53c3\u8003\u9ede<\/strong><\/figcaption><\/figure><\/li>\n<\/ol>\n<\/li>\n<li>\u5728 Positioner toolbar, \u5230\u00a0<strong><em>SETTING\/CALIBRATION\u3002<\/em><\/strong>\u9078\u64c7Select AUX1 \u8207P1(0\u00b0)\u7136\u5f8c\u6309\u8457PLAY\u7684\u5716\u793a\u4f86\u79fb\u52d5\u5916\u90e8\u8ef8\u5230P1\u4f4d\u7f6e\u3002\n<p><figure id=\"attachment_125180\" aria-describedby=\"caption-attachment-125180\" style=\"width: 903px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404478154.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-125180\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404478154.jpg\" alt=\"\" width=\"903\" height=\"509\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404478154.jpg 903w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404478154-300x169.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404478154-768x433.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404478154-360x203.jpg 360w\" sizes=\"(max-width: 903px) 100vw, 903px\" \/><\/a><figcaption id=\"caption-attachment-125180\" class=\"wp-caption-text\"><strong>AUX1.P1 \u7684\u6821\u6b63\u756b\u9762<\/strong><\/figcaption><\/figure><\/li>\n<li>\u5c07TCP\u79fb\u52d5\u5230\u5916\u90e8\u8ef8\u6821\u6b63\u9ede\u3002\u4efb\u4f55\u89d2\u5ea6\u90fd\u53ef\u4ee5\u3002\u6309\u4e0b<strong><em>Record Point<\/em><\/strong>\u3002\u63a5\u8457\u6703\u770b\u5230P1\u5df2\u7d93\u6821\u6b63\u5b8c\u6210\u3002\n<p><figure id=\"attachment_125186\" aria-describedby=\"caption-attachment-125186\" style=\"width: 485px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404713007.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-125186\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404713007.jpg\" alt=\"\" width=\"485\" height=\"432\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404713007.jpg 485w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404713007-300x267.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404713007-360x321.jpg 360w\" sizes=\"(max-width: 485px) 100vw, 485px\" \/><\/a><figcaption id=\"caption-attachment-125186\" class=\"wp-caption-text\"><strong>AUX1.P1 \u7684\u6821\u6b63\u4f4d\u7f6e<\/strong><\/figcaption><\/figure><\/li>\n<li>Move the TCP away, then follow the same procedures to finish <span style=\"color: #ff0000;\">AUX1.P1<\/span> to <span style=\"color: #ff0000;\">AUX1.P5<\/span>.<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404936800.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-125192\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404936800.jpg\" alt=\"\" width=\"903\" height=\"509\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404936800.jpg 903w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404936800-300x169.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404936800-768x433.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743404936800-360x203.jpg 360w\" sizes=\"(max-width: 903px) 100vw, 903px\" \/><\/a>\n<p><figure id=\"attachment_125198\" aria-describedby=\"caption-attachment-125198\" style=\"width: 904px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743405007256.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-125198\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743405007256.jpg\" alt=\"\" width=\"904\" height=\"570\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743405007256.jpg 904w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743405007256-300x189.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743405007256-768x484.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743405007256-360x227.jpg 360w\" sizes=\"(max-width: 904px) 100vw, 904px\" \/><\/a><figcaption id=\"caption-attachment-125198\" class=\"wp-caption-text\"><strong>AUX.P1 \u5230 AUX1.P5 \u7684\u6821\u6b63\u4f4d\u7f6e<\/strong><\/figcaption><\/figure><\/li>\n<li>\u5c07 AUX1 \u79fb\u52300\u00b0\u7684\u4f4d\u7f6e\u3002<\/li>\n<li>\u5728\u4ecb\u9762\u4e0a\u9078\u64c7AUX2.P1(0\u00b0)\uff0c\u7136\u5f8c\u6309\u8457 <strong><em>PLAY<\/em><\/strong> \u4f86\u79fb\u52d5\u5916\u90e8\u8ef8\u5230P1\u3002<\/li>\n<li>\u5c07 TCP \u79fb\u958b\uff0c\u91cd\u8907\u4e0a\u9762\u7684\u6b65\u9a5f\u4f86\u5b8c\u6210<span style=\"color: #ff0000;\">AUX2.P1<\/span> \u5230<span style=\"color: #ff0000;\"> AUX2.P5<\/span>\u3002<a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743405280956.jpg\"><img loading=\"lazy\" class=\"aligncenter size-full wp-image-125204\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743405280956.jpg\" alt=\"\" width=\"903\" height=\"509\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743405280956.jpg 903w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743405280956-300x169.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743405280956-768x433.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743405280956-360x203.jpg 360w\" sizes=\"(max-width: 903px) 100vw, 903px\" \/><\/a>\n<p><figure id=\"attachment_125210\" aria-describedby=\"caption-attachment-125210\" style=\"width: 904px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743405330028.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-125210\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743405330028.jpg\" alt=\"\" width=\"904\" height=\"615\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743405330028.jpg 904w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743405330028-300x204.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743405330028-768x522.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743405330028-360x245.jpg 360w\" sizes=\"(max-width: 904px) 100vw, 904px\" \/><\/a><figcaption id=\"caption-attachment-125210\" class=\"wp-caption-text\"><strong>AUX2.P1 to AUX2.P5 \u7684\u6821\u6b63\u4f4d\u7f6e<\/strong><\/figcaption><\/figure><\/li>\n<li>\u754c\u9762\u4e0a\u6709\u9810\u5148\u8a2d\u5b9a\u597d\u7684\u89d2\u5ea6\uff1aP1\u5230P5\uff0c\u53ef\u4ee5\u9078\u64c7\u3002\u4f46\u53ef\u4ee5\u4f9d\u64da\u73fe\u5834\u60c5\u6cc1\u4f86\u79fb\u52d5\u5230\u4e0d\u540c\u89d2\u5ea6\u4e26\u9032\u884c\u6821\u6b63\u3002\u6821\u6b63\u6642\uff0c\u76e1\u53ef\u80fd\u5305\u542b\u6240\u6709\u904b\u52d5\u7684\u7bc4\u570d\uff0c\u4f8b\u5982AUX2\u7684 0\u00b0 \u5230360\u00b0\u3002<\/li>\n<li>\u82e5\u53ea\u63a5\u4e00\u8ef8\u5916\u90e8\u8ef8\uff0c\u5247AUX2\u53ef\u4ee5\u4e0d\u7528\u6821\u6b63\u3002<\/li>\n<li>\u7576\u6240\u6709\u9ede\u4f4d\u90fd\u6821\u6b63\u5b8c\u6210\uff0c\u6309\u4e0b<strong><em>CALCULATE<\/em><\/strong> \u4f86\u5b8c\u6210\u6821\u6b63\u4e26\u6aa2\u67e5\u6821\u6b63\u7d50\u679c\u3002\u4f8b\u5982\u4e0b\u5716\uff0c[0.3, 0.5] \u5206\u5225\u4ee3\u8868AUX1\u8207AUX2\u7684\u5206\u6578\u3002\u6b64\u5206\u6578\u8d8a\u4f4e\u8d8a\u597d\uff0c\u5efa\u8b70\u4ecb\u65bc0.5\u4ee5\u5167\u3002\u82e5\u8d85\u904e\u6b64\u503c\u5247\u5efa\u8b70\u6aa2\u67e5TCP\u503c\u8207\u91cd\u65b0\u6821\u6b63\u3002\n<p><figure id=\"attachment_125233\" aria-describedby=\"caption-attachment-125233\" style=\"width: 903px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/calibrated-result.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-125233\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/calibrated-result.jpg\" alt=\"\" width=\"903\" height=\"509\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/calibrated-result.jpg 903w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/calibrated-result-300x169.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/calibrated-result-768x433.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/calibrated-result-360x203.jpg 360w\" sizes=\"(max-width: 903px) 100vw, 903px\" \/><\/a><figcaption id=\"caption-attachment-125233\" class=\"wp-caption-text\"><strong>\u6821\u6b63\u7d50\u679c<\/strong><\/figcaption><\/figure><\/li>\n<li>\u5230 <em style=\"font-weight: bold;\">SETTING\/SETTING <\/em>\u00a0\u53bb\u6aa2\u67e5\u5916\u90e8\u8ef8\u72c0\u614b\uff0c\u6216\u662f\u4fee\u6539\u76f8\u95dc\u53c3\u6578\u3002 \u6309\u4e0b<strong><em>Apply <\/em><\/strong>\u4f86\u5957\u7528\u8a2d\u5b9a\u3002\u9019\u4e9b\u8a2d\u5b9a\u53ef\u4ee5\u4e4b\u5f8c\u96a8\u6642\u904e\u4f86\u4fee\u6539\uff0c\u7acb\u5373\u751f\u6548\u3002\n<p><figure id=\"attachment_125239\" aria-describedby=\"caption-attachment-125239\" style=\"width: 903px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/setting-page-for-AUX.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-125239\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/setting-page-for-AUX.jpg\" alt=\"\" width=\"903\" height=\"509\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/setting-page-for-AUX.jpg 903w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/setting-page-for-AUX-300x169.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/setting-page-for-AUX-768x433.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/setting-page-for-AUX-360x203.jpg 360w\" sizes=\"(max-width: 903px) 100vw, 903px\" \/><\/a><figcaption id=\"caption-attachment-125239\" class=\"wp-caption-text\"><strong>\u5916\u90e8\u8ef8\u7684\u8a2d\u5b9a\u9801\u9762<\/strong><\/figcaption><\/figure><\/li>\n<li>\u7576\u6821\u6b63\u5b8c\u6210\u5f8c\uff0c\u4e00\u500btext\u6a94\u6848\u6703\u81ea\u52d5\u7522\u751f\u5728<strong><em>TMflow\/Text File Manager\/Positioner_Cal.txt<\/em><\/strong>\u3002\u5305\u542b\u4ee5\u4e0b\u5e7e\u500b\u53c3\u6578\u8207\u8aaa\u660e\uff1a<\/li>\n<\/ol>\n<ul>\n<li>\u5916\u90e8\u8ef8Base \u7684\u53c3\u8003\u5ea7\u6a19\u8cc7\u8a0a\uff08\u5916\u90e8\u8ef8\u5230\u6a5f\u5668\u4eba\u5e95\u5ea7\u7684\u76f8\u5c0d\u5ea7\u6a19\u95dc\u4fc2\uff09\u3002<\/li>\n<li>DH \u53c3\u6578(\u63cf\u8ff0AUX1\u8207AUX2\u4e4b\u9593\u7684\u76f8\u5c0d\u95dc\u4fc2\u3002\u4f8b\u5982\u8ddd\u96e2\u6216\u7d44\u88dd\u89d2\u5ea6) \u3002<\/li>\n<li>\u5916\u90e8\u8ef8\u65cb\u8f49\u901f\u5ea6\u4e0a\u9650\u3002<\/li>\n<li>\u5916\u90e8\u8ef8\u89d2\u5ea6\u4e0a\u4e0b\u9650\u3002<\/li>\n<li>\u82e5\u5916\u90e8\u8ef8\u6709\u79fb\u52d5\u6216\u4fee\u6539\uff0c\u5247\u9700\u8981\u91cd\u65b0\u6821\u6b63\u3002<\/li>\n<li>\u8acb\u52ff\u79fb\u9664\u6b64 text \u6a94\u6848\u3002<\/li>\n<\/ul>\n<figure id=\"attachment_125245\" aria-describedby=\"caption-attachment-125245\" style=\"width: 903px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/calibrated-file.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-125245\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/calibrated-file.jpg\" alt=\"\" width=\"903\" height=\"509\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/calibrated-file.jpg 903w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/calibrated-file-300x169.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/calibrated-file-768x433.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/calibrated-file-360x203.jpg 360w\" sizes=\"(max-width: 903px) 100vw, 903px\" \/><\/a><figcaption id=\"caption-attachment-125245\" class=\"wp-caption-text\"><strong>\u6821\u6b63\u6a94\u6848\u64fa\u653e\u4f4d\u7f6e<\/strong><\/figcaption><\/figure>\n<h2>Base \u6821\u6b63 Calibration for Base<\/h2>\n<ol>\n<li>\u5728TMflow\u5c08\u6848\u4e2d\uff0c\u5275\u9020\u4e00\u500bBase\u3002<strong><em>Positioner_Cal.txt\/AUXBase <\/em><\/strong>\u6578\u503c\u4fee\u6539Base\u7684\u5ea7\u6a19\u6578\u503c \u3002<\/li>\n<li>\u6b64Base\u4ee3\u8868\uff1a\u5c07\u53c3\u8003\u5ea7\u6a19\u7cfb\u7684\u539f\u9ede\u653e\u7f6e\u5230\u5916\u90e8\u8ef8\u4e2d\u5fc3\u3002<\/li>\n<li>\u63a5\u4e0b\u4f86\uff0c\u78ba\u4fdd\u6b63\u78ba\u7684Base\u8207TCP\u6709\u88ab\u555f\u7528\u3002<\/li>\n<\/ol>\n<figure id=\"attachment_125252\" aria-describedby=\"caption-attachment-125252\" style=\"width: 903px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/base-data-for-AUX.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-125252\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/base-data-for-AUX.jpg\" alt=\"\" width=\"903\" height=\"509\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/base-data-for-AUX.jpg 903w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/base-data-for-AUX-300x169.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/base-data-for-AUX-768x433.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/base-data-for-AUX-360x203.jpg 360w\" sizes=\"(max-width: 903px) 100vw, 903px\" \/><\/a><figcaption id=\"caption-attachment-125252\" class=\"wp-caption-text\"><strong>Base \u8a2d\u5b9a\u7bc4\u4f8b<\/strong><\/figcaption><\/figure>\n<figure id=\"attachment_125258\" aria-describedby=\"caption-attachment-125258\" style=\"width: 544px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/the-position-of-the-base-for-AUX.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-125258\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/the-position-of-the-base-for-AUX.jpg\" alt=\"\" width=\"544\" height=\"488\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/the-position-of-the-base-for-AUX.jpg 544w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/the-position-of-the-base-for-AUX-300x269.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/the-position-of-the-base-for-AUX-360x323.jpg 360w\" sizes=\"(max-width: 544px) 100vw, 544px\" \/><\/a><figcaption id=\"caption-attachment-125258\" class=\"wp-caption-text\"><strong>\u5916\u90e8\u8ef8Base\u5728\u5be6\u969b\u7a7a\u9593\u4e2d\u7684\u4f4d\u7f6e<\/strong><\/figcaption><\/figure>\n<h2>\u904b\u52d5\u7bc4\u4f8b<\/h2>\n<p>\u9019\u88e1\u662f\u4e00\u6bb5\u8def\u5f91\u7684\u5f71\u7247\uff0c\u6211\u5011\u63a5\u8457\u6703\u4ee5\u6b64\u5f71\u7247\u4f5c\u70ba\u7bc4\u4f8b\u4f86\u8b1b\u89e3\u3002<\/p>\n<div style=\"width: 1280px;\" class=\"wp-video\"><!--[if lt IE 9]><script>document.createElement('video');<\/script><![endif]-->\n<video class=\"wp-video-shortcode\" id=\"video-125352-1\" width=\"1280\" height=\"720\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/Item5.mp4?_=1\" \/><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/Item5.mp4\">https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/Item5.mp4<\/a><\/video><\/div>\n<ul>\n<li>P1: \u521d\u59cb\u4f4d\u7f6e<\/li>\n<li>P2: \u76f4\u7dda\u904b\u52d5<\/li>\n<li>P3: \u76f4\u7dda\u904b\u52d5<\/li>\n<li>P4, P5: \u5713\u5f27\u904b\u52d5<\/li>\n<li>P1: \u521d\u59cb\u4f4d\u7f6e<\/li>\n<\/ul>\n<figure id=\"attachment_125271\" aria-describedby=\"caption-attachment-125271\" style=\"width: 551px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/sample-path.jpg\"><img loading=\"lazy\" class=\"size-full wp-image-125271\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/sample-path.jpg\" alt=\"\" width=\"551\" height=\"513\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/sample-path.jpg 551w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/sample-path-300x279.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/sample-path-360x335.jpg 360w\" sizes=\"(max-width: 551px) 100vw, 551px\" \/><\/a><figcaption id=\"caption-attachment-125271\" class=\"wp-caption-text\"><strong>\u5c55\u793a\u8def\u5f91\u8aaa\u660e<\/strong><\/figcaption><\/figure>\n<h3>\u6e96\u5099<\/h3>\n<ol>\n<li>\u5728 TMflow \u7a0b\u5f0f\u958b\u59cb\u7684\u5f8c\u9762\uff0c\u4f7f\u7528\u4e00\u500b <strong><em>PositionNode_Setup <\/em><\/strong>\u4e26\u9032\u5165\u8a72 node\u3002\u524d\u9762\u505a\u5b8c\u7684\u6821\u6b63\u7d50\u679c\u6703\u81ea\u52d5\u986f\u793a\u5728\u672c node \u5167\u3002\u7b2c\u4e00\u6b21\u4f7f\u7528\uff0c\u5fc5\u9808\u6309Save\u4ee5\u4fdd\u5b58\u7d50\u679c\u3002<span style=\"color: #0000ff;\">\u6b64\u6b65\u9a5f\u5c0d\u65bc\u6240\u6709\u65b0\u7684TMflow Project\u90fd\u662f\u5fc5\u8981\u7684<\/span>\u3002\n<p><figure id=\"attachment_125620\" aria-describedby=\"caption-attachment-125620\" style=\"width: 1284px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/abctest-1.png\"><img loading=\"lazy\" class=\"wp-image-125620 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/abctest-1.png\" alt=\"\" width=\"1284\" height=\"445\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/abctest-1.png 1284w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/abctest-1-300x104.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/abctest-1-1024x355.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/abctest-1-768x266.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/abctest-1-360x125.png 360w\" sizes=\"(max-width: 1284px) 100vw, 1284px\" \/><\/a><figcaption id=\"caption-attachment-125620\" class=\"wp-caption-text\"><strong>PositionNode_Setup \u7bc4\u4f8b<\/strong><\/figcaption><\/figure><\/li>\n<li>\u9078\u64c7\u6b63\u78ba\u7684 Base \u8207 TCP\u3002\u5c07\u624b\u81c2\u62c9\u5230P1\u7684\u4f4d\u7f6e\uff0c\u7136\u5f8c\u4f7f\u7528\u4e00\u500b Point node \u4f86\u78ba\u4fdd Base \u8207 TCP \u6703\u5728\u6b64 node \u4e4b\u5f8c\u88ab\u6b63\u78ba\u555f\u7528\u3002<\/li>\n<\/ol>\n<figure id=\"attachment_125287\" aria-describedby=\"caption-attachment-125287\" style=\"width: 904px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411390104.jpg\"><img loading=\"lazy\" class=\"wp-image-125287 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411390104.jpg\" alt=\"\" width=\"904\" height=\"390\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411390104.jpg 904w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411390104-300x129.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411390104-768x331.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411390104-360x155.jpg 360w\" sizes=\"(max-width: 904px) 100vw, 904px\" \/><\/a><figcaption id=\"caption-attachment-125287\" class=\"wp-caption-text\"><strong>\u900f\u904e Point Node \u555f\u7528\u6b63\u78ba\u7684 Base \u8207 TCP<\/strong><\/figcaption><\/figure>\n<h3>\u79fb\u52d5\u5916\u90e8\u8ef8\u4e26\u6559\u9ede<\/h3>\n<ol>\n<li>\u5728 <strong><em>Positioner Toolbar <\/em><\/strong>\u4e0a\u5c07\u5916\u90e8\u8ef8\u8f49\u5230\u5e0c\u671b\u7684\u4f4d\u7f6e\uff0c\u4f8b\u5982[AUX1, AUX2] = [0, 0]\u3002\u7136\u5f8c\u5c07TCP\u79fb\u52d5\u5230P2\u4f4d\u7f6e\u3002 \u7136\u5f8c\u5728P1\u5f8c\u63d2\u5165\u4e00\u500b<strong><em>PositionerNode<\/em><\/strong>\u3002\n<p><figure id=\"attachment_125305\" aria-describedby=\"caption-attachment-125305\" style=\"width: 904px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411627070.jpg\"><img loading=\"lazy\" class=\"wp-image-125305 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411627070.jpg\" alt=\"\" width=\"904\" height=\"280\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411627070.jpg 904w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411627070-300x93.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411627070-768x238.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411627070-360x112.jpg 360w\" sizes=\"(max-width: 904px) 100vw, 904px\" \/><\/a><figcaption id=\"caption-attachment-125305\" class=\"wp-caption-text\"><strong>P2 \u4f4d\u7f6e\u7bc4\u4f8b<\/strong><\/figcaption><\/figure><\/li>\n<li>\u5728 <strong><em>PositionerNode <\/em><\/strong>\u5167\uff0c\u6309\u4e0b <strong><em>Record\u00a0<\/em><\/strong> \u4f86\u7d00\u9304\u76ee\u524d\u7684TCP\u8207\u5916\u90e8\u8ef8\u4f4d\u7f6e\u3002\u7136\u5f8c\u6309\u4e0b <strong><em>Save &amp; Exit<\/em><\/strong>\u3002\n<p><figure id=\"attachment_125311\" aria-describedby=\"caption-attachment-125311\" style=\"width: 902px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411698471.jpg\"><img loading=\"lazy\" class=\"wp-image-125311 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411698471.jpg\" alt=\"\" width=\"902\" height=\"510\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411698471.jpg 902w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411698471-300x170.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411698471-768x434.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411698471-360x204.jpg 360w\" sizes=\"(max-width: 902px) 100vw, 902px\" \/><\/a><figcaption id=\"caption-attachment-125311\" class=\"wp-caption-text\"><strong>P2 \u4f4d\u7f6e\u7bc4\u4f8b<\/strong><\/figcaption><\/figure><\/li>\n<li>\u5c07TCP\u79fb\u958b\u3002\u79fb\u52d5\u5916\u90e8\u8ef8\u5230[-10, 20]\uff0c\u7136\u5f8c\u5c07TCP\u79fb\u52d5\u5230P3\u3002\u63d2\u5165\u4e00\u500b\u65b0\u7684 <strong><em>PositionerNode<\/em><\/strong> \u4e26\u7d00\u9304\u4f4d\u7f6e\u3002\n<p><figure id=\"attachment_125318\" aria-describedby=\"caption-attachment-125318\" style=\"width: 379px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411900356.jpg\"><img loading=\"lazy\" class=\"wp-image-125318 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411900356.jpg\" alt=\"\" width=\"379\" height=\"269\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411900356.jpg 379w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411900356-300x213.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411900356-360x256.jpg 360w\" sizes=\"(max-width: 379px) 100vw, 379px\" \/><\/a><figcaption id=\"caption-attachment-125318\" class=\"wp-caption-text\"><strong>P3 \u4f4d\u7f6e\u7bc4\u4f8b<\/strong><\/figcaption><\/figure><\/li>\n<li>\u5c07TCP\u79fb\u958b\u3002\u79fb\u52d5\u5916\u90e8\u8ef8\u5230[-20, 50]\u3002\u63d2\u5165\u4e00\u500b\u65b0\u7684<strong><em>PositionerNode<\/em><\/strong>\u3002\u9019\u6b21\u5728<strong><em>Mode<\/em><\/strong>\u4e0a\u9078\u64c7<strong><em>Circle<\/em><\/strong>\u3002 \u5206\u5225\u5c07TCP\u79fb\u5230P4\u3001P5\u4e26\u7d00\u9304\u4f4d\u7f6e\u3002\u9019\u6703\u5728P3&gt;P4&gt;P5\u4e0a\u7d00\u9304\u5713\u5f27\u8def\u5f91\u3002\n<p><figure id=\"attachment_125324\" aria-describedby=\"caption-attachment-125324\" style=\"width: 904px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411959857.jpg\"><img loading=\"lazy\" class=\"wp-image-125324 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411959857.jpg\" alt=\"\" width=\"904\" height=\"380\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411959857.jpg 904w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411959857-300x126.jpg 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411959857-768x323.jpg 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/messageImage_1743411959857-360x151.jpg 360w\" sizes=\"(max-width: 904px) 100vw, 904px\" \/><\/a><figcaption id=\"caption-attachment-125324\" class=\"wp-caption-text\"><strong>P4 \u8207 P5 \u4f4d\u7f6e\u7bc4\u4f8b<\/strong><\/figcaption><\/figure><\/li>\n<li>\u63d2\u5165 GOTO node \u4e26\u6307\u56de\u5230P1\u3002<\/li>\n<li>\u57f7\u884cTMflow\u5c08\u6848\u3002\u60a8\u6703\u770b\u5230 TCP \u6cbf\u8457\u6307\u5b9a\u8def\u7dda\u79fb\u52d5\uff0c\u540c\u6642\u5916\u90e8\u8ef8\u4e5f\u9032\u5165\u540c\u52d5\u6a21\u5f0f\u3002<\/li>\n<\/ol>\n<h3>\u6ce8\u610f\u4e8b\u9805<\/h3>\n<ol>\n<li>\u5916\u90e8\u8ef8\u4e5f\u53ef\u4ee5\u4f7f\u7528 TMscript \u4f86\u63a7\u5236\u3002\u4f8b\u5982\u4e0b\u5716\u662f\u5c07\u5916\u90e8\u8ef8\u79fb\u52d5\u5230\u6307\u5b9a\u4f4d\u7f6e\u3002\n<p><figure id=\"attachment_125632\" aria-describedby=\"caption-attachment-125632\" style=\"width: 681px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/tmscript-functions-for-aux-1.png\"><img loading=\"lazy\" class=\"wp-image-125632 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/tmscript-functions-for-aux-1.png\" alt=\"\" width=\"681\" height=\"444\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/tmscript-functions-for-aux-1.png 681w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/tmscript-functions-for-aux-1-300x196.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/tmscript-functions-for-aux-1-360x235.png 360w\" sizes=\"(max-width: 681px) 100vw, 681px\" \/><\/a><figcaption id=\"caption-attachment-125632\" class=\"wp-caption-text\"><strong>TMscript \u7684\u5916\u90e8\u8ef8\u529f\u80fd<\/strong><\/figcaption><\/figure><\/li>\n<li>\u8981\u5728 <strong><em>PositionerNode <\/em><\/strong>\u4fee\u6539\u901f\u5ea6\uff0c\u53ef\u4ee5\u76f4\u63a5\u8f38\u5165\u6574\u6578(\u4f8b\u598215mm\/s)\u6216\u662fint\u8b8a\u6578\uff0c\u5982\u4e0b\u5716\u3002<\/li>\n<\/ol>\n<figure id=\"attachment_125626\" aria-describedby=\"caption-attachment-125626\" style=\"width: 1227px\" class=\"wp-caption aligncenter\"><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/speed-setting-in-positioner-node-1.png\"><img loading=\"lazy\" class=\"wp-image-125626 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/speed-setting-in-positioner-node-1.png\" alt=\"\" width=\"1227\" height=\"347\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/speed-setting-in-positioner-node-1.png 1227w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/speed-setting-in-positioner-node-1-300x85.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/speed-setting-in-positioner-node-1-1024x290.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/speed-setting-in-positioner-node-1-768x217.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2025\/03\/speed-setting-in-positioner-node-1-360x102.png 360w\" sizes=\"(max-width: 1227px) 100vw, 1227px\" \/><\/a><figcaption id=\"caption-attachment-125626\" class=\"wp-caption-text\"><strong>PositionerNode \u88e1\u7684\u901f\u5ea6\u8a2d\u5b9a<\/strong><\/figcaption><\/figure>\n<h1>\u5e38\u898b Q&amp;A<\/h1>\n<p><strong>\u6211\u53ef\u4ee5\u81ea\u884c\u8a2d\u8a08\u4e0d\u540c\u5927\u5c0f\u7684\u5916\u90e8\u8ef8\uff1f<\/strong><\/p>\n<p>\u53ef\u4ee5\u3002\u6821\u6b63\u6d41\u7a0b\u6703\u81ea\u52d5\u53bb\u627e\u51fa\u9069\u5408\u7684\u53c3\u6578\u3002\u9019\u4e9b\u53c3\u6578\u6703\u4fdd\u5b58\u5728\u6821\u6b63\u8cc7\u6599\u5167\uff08\u5982DH\uff09\u3002<\/p>\n<p>&nbsp;<\/p>\n<p><strong>TM<\/strong><strong>\u63d0\u4f9b\u5916\u90e8\u8ef8\u786c\u9ad4\u55ce\uff1f<\/strong><\/p>\n<p>TM\u4e0d\u63d0\u4f9b\u3002\u7cfb\u7d71\u6574\u5408\u5546\u5fc5\u9808\u81ea\u884c\u8a2d\u8a08\u8207\u751f\u7522\u786c\u9ad4\u3002<\/p>\n<p>&nbsp;<\/p>\n<p><strong>\u53ef\u4ee5\u4f7f\u7528\u5176\u4ed6\u54c1\u724c\u7684\u4f3a\u670d\u99ac\u9054\u7cfb\u7d71\u55ce\uff1f<\/strong><\/p>\n<p>\u56e0\u70ba\u4e0d\u540c\u5ee0\u724c\u7684\u4f3a\u670d\u99ac\u9054\u7279\u6027\u4e0d\u540c\uff0c\u76ee\u524dTM\u50c5\u652f\u63f4Yaskawa Sigma-X EtherCAT\u7cfb\u5217\u7522\u54c1\u3002\u5176\u4ed6\u54c1\u724c\u7684\u7522\u54c1\u76ee\u524d\u6b63\u5728\u7814\u7a76\u4e2d\u3002\u672a\u4f86\u53ef\u80fd\u53ef\u4ee5\u652f\u63f4\u3002<\/p>\n<p>&nbsp;<\/p>\n<p><strong>TM<\/strong><strong>\u652f\u63f4\u6a6b\u79fb\u8ef8\u55ce\uff1f<\/strong><\/p>\n<p>\u6a6b\u79fb\u8ef8\u7684\u529f\u80fd\u6b63\u5728\u958b\u767c\u4e2d\uff0c\u76ee\u524d\u5c1a\u672a\u652f\u63f4\u3002<\/p>\n<p>&nbsp;<\/p>\n<p><strong>\u70ba\u4ec0\u9ebc\u6211\u7684\u5916\u90e8\u8ef8\u6703\u6709\u632f\u52d5\u6216\u96dc\u97f3\uff1f<\/strong><\/p>\n<p>\u8acb\u4f9d\u4f3a\u670d\u99ac\u9054\u7684\u4f7f\u7528\u624b\u518a\u9032\u884c\u53c3\u6578\u8abf\u6574(tuning) \u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4ee5\u4e0b\u7bc4\u4f8b\u57fa\u65bc: TMflow \u8edf\u9ad4\u7248\u672c: 2.22.2400 \u6216\u66f4\u65b0\u7248\u672c TM Robot \u786c\u9ad4\u7248\u672c: HW5 [&hellip;]<\/p>\n","protected":false},"author":8760,"featured_media":0,"parent":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"doc_category":[4609],"doc_tag":[],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v16.9 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>TM \u5916\u90e8\u8ef8\u4f7f\u7528\u6307\u5357 | Techman Robot<\/title>\n<meta name=\"robots\" content=\"noindex, follow\" \/>\n<meta property=\"og:locale\" content=\"zh_TW\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"TM \u5916\u90e8\u8ef8\u4f7f\u7528\u6307\u5357 | Techman Robot\" \/>\n<meta property=\"og:description\" content=\"\u4ee5\u4e0b\u7bc4\u4f8b\u57fa\u65bc: TMflow \u8edf\u9ad4\u7248\u672c: 2.22.2400 \u6216\u66f4\u65b0\u7248\u672c TM Robot \u786c\u9ad4\u7248\u672c: HW5 [&hellip;]\" \/>\n<meta property=\"og:url\" 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