หลักสูตร Curriculum 6 axis articulated robot retrofit 6 axis robot 6 Axis Articular RobotD-Hertenberg ParametersInverse Kinematics/Forward Kinematics/ Kinetics EquationsMechanical Gear Ratio B3 Servo Motor and Drive1 Servo Absolute EncoderServo Feedback ControlE Gear RationServo Automatic Tuning B3 Servo Motor and Drive2 PID in ServoNecessaries ParametersCalculation ExampleUpgrade Firmware to B3 Electrical System 1 Robot Control DevicesASD-MS Terminal ConnectionSingle Line DiagramRobot Controller wiringEncoder wiringDigital I/O wiring Robot Controller Setting 1 Trial Operation and TuningRobot Setting Procedure Robot Controller Setting 2 Delta Robot ProgrammingDelta Robot Teach Pendant