ABB機(jī)器人IRC5training-CMProductinfo

1、 ABB University -1 IRC5 Product InformationIRC5 產(chǎn)品介紹 ABB University -2IRC5 OperatorPC Tools 計(jì)算機(jī)計(jì)算機(jī)FlexPendant示教器示教器MultiMove協(xié)同運(yùn)動(dòng)協(xié)同運(yùn)動(dòng)Controller 控制器控制器IRC5 Robot Controller ABB University -3IRC5 OperatorContentsnThe IRC5 Module Architecture IRC5模塊結(jié)構(gòu)nCabinet family 控制柜系列nConfigurations 配置nFacts nIRC5 H

2、ardware IRC5 硬件nSystem architecture 系統(tǒng)結(jié)構(gòu)nFactsnIRC5 Software RobotWare 5.0 ICR5軟件: RobotWare 5.0nSystem architecture 系統(tǒng)結(jié)構(gòu)nRelation to S4CPlus RW 4.0 關(guān)于S4CPlus RW 4.0 nNews 新產(chǎn)品nSummary 概要 ABB University -4IRC5 OperatorIRC5 Cabinet Family IRC5 控制柜系列控制柜系列 ABB University -5IRC5 OperatorIRC5 Cabinet arch

3、itecture IRC5 控制柜結(jié)構(gòu)控制柜結(jié)構(gòu)nLogical split of functions 合理的功能分配nMinimum dependency between modules 模塊間最小依賴性nLocal computer power with local supervision 本地計(jì)算機(jī)電源的管理nLocal power supply 局部供電nMinimum of cables between modules 模塊間最少的連接電纜nStandard communication solutions (Ethernet) 標(biāo)準(zhǔn)的通訊方案 (Ethernet)nMakes it

4、easier to: 更加容易的:nDistribute 分配nSupport different configurations e.g. MultiMove 支持不同的配置 如:多運(yùn)動(dòng)nRepackage in new forms 重新包裝nReplace/Upgrade modules independent of each other 互相獨(dú)立的更換/升級(jí)模塊 ABB University -6IRC5 OperatorIRC5 Functional Architecture IRC5 功能結(jié)構(gòu)功能結(jié)構(gòu)CCell & Safety control 單元&安全控制DMotor ctrl 電

5、機(jī)控制PProcess ctrl 過程控制User ctrl 用戶控制e.g. Operator 操作者FlexPendant ABB University -7IRC5 OperatorControl Cabinet 控制柜控制柜nCentral control module 核心控制模塊nCan host additional cell/ process equipment. Control up to 4 drive modules. 可以額外的增加單元/程序設(shè)備.最多可以增加4個(gè)驅(qū)動(dòng)模塊nHeight 625 mm, footprint 700 * 700 mm 高度 625mm 長(zhǎng)X

6、寬=700 x700mm ABB University -8IRC5 OperatorControl Cabinet 控制柜控制柜Customer I/O power supply 用戶I/O電源Control panel 控制面板Main switch 主開關(guān)Control power supply控制電源Computer unit 計(jì)算機(jī)單元 ABB University -9IRC5 OperatorDrive Module 驅(qū)動(dòng)柜驅(qū)動(dòng)柜nDrive module 驅(qū)動(dòng)模塊nCan control up to 8 or 9 internal axis depending on curre

7、nt requirement.可以獨(dú)立的控制8或9個(gè)外軸nHeight 625 mm, footprint 700 * 700 mm 高度 625mm 長(zhǎng)X寬=700 x700mm ABB University -10IRC5 OperatorFlexible Controller 柔性控制器柔性控制器nControl module 控制模塊nContains computer unit, safety interface, control panel, space for standard and customer options包括:計(jì)算機(jī)單元,安全界面,控制面板,標(biāo)準(zhǔn)空間和用戶選項(xiàng)nDr

8、ive module 驅(qū)動(dòng)模塊nContains drive system, axis computer, transformer, mains connection & filter包括:驅(qū)動(dòng)系統(tǒng),軸計(jì)算機(jī),變壓器,主連接&濾波nBuilding block for MultiMove application (up to 4 drive cabinets connected to a single control cabinet)多運(yùn)動(dòng)功能塊(最多4個(gè)驅(qū)動(dòng)單元可以連接到一個(gè)控制柜)nHeight 1250 mm, footprint 700 * 700 mm 高度 625mm 長(zhǎng)X寬=70

9、0 x700mm ABB University -11IRC5 OperatorCompact Controller 緊湊型控制器緊湊型控制器nAll-in-one cabinet 整體柜nHeight 850 mm, 高:850mm footprint 700 * 700 mm 長(zhǎng)x寬=700 x700mmnComputer, drives and safety integrated in same cabinet 將計(jì)算機(jī),驅(qū)動(dòng),安全集成在一個(gè)柜里nLess space for options. Mainly for distributed I/O via field bus 可選更小空間

10、.主要是現(xiàn)場(chǎng)總線分布式I/OnCan be used in combination with additional drive cabinets for MultiMove applications 與驅(qū)動(dòng)單元結(jié)合,用于多運(yùn)動(dòng)功能 ABB University -12IRC5 OperatorProcess cabinet 工藝控制柜工藝控制柜nPurpose 目的nIntegration of application package, e g SpotWeld集成功能塊,例如:點(diǎn)焊nInstallation of customer equipment, e g Extra I/O用戶設(shè)備的安

11、裝,例如:外部I/OnHeight 625 mm, 高:625mm footprint 700 * 700 mm 長(zhǎng)x寬=700 x700mmnCan be added to both Flexible or Compact Controller versions 可以增加柔性控制器或緊湊型控制器nIntegrated in the same encapsulation family. 完美的包裝系列nSame interface layout as in Control Module作為控制模塊具有相同的界面布局 ABB University -13IRC5 OperatorRemote O

12、perator Panel 遠(yuǎn)程操作面板遠(yuǎn)程操作面板nRemote Panel allow easy access to mode switch and other panel functions close to cell entry 遠(yuǎn)程面板更容易地訪問模式開關(guān)和其它的面板功能nIntegrated in the same encapsulation family. 完美的包裝系列 FlexPendant 示教器示教器 ABB University -14IRC5 Operator7 Single Robot IRC5 Configurations 7種單個(gè)機(jī)器人種單個(gè)機(jī)器人IRC5配置配

13、置DC&PC&D&PDCC&DPPDC&PDCP+ Distributed solutions 分布式的方案DCP 2 times S4Cplus 相當(dāng)與S4Cplus兩倍nOptional hard drive 可選的硬盤n20 GBnHigh temperature specification (+60 C) 最高溫度 60 CnShock protection integrated in carrier 防震保護(hù)nAuto spin down function in SW to extend lifetime of bearings 自動(dòng)旋轉(zhuǎn)功能增加了軸承的壽命nCarrier for

14、mass memory unit 大容量存儲(chǔ)器單元支架nAllows quick replacement of solid state / hard drive 可以快速的更換固態(tài)/硬盤驅(qū)動(dòng)nUSB for connection of external mass memory外部大容量存儲(chǔ)器的USB連接 ABB University -21IRC5 OperatorPerformance 性能性能nMain computer 主計(jì)算機(jī)nIntel Celeron 566 MHz (3 times S4Cplus), upgradeable to 1.2 GHz 處理器:Intel Celero

15、n 566 MHz (S4Cplus的三倍),可升級(jí)至1.2GHzn64 MB DRAM (2 times S4Cplus), expandable to 512 MB 內(nèi)存: 64MB DRAM (S4Cplus的兩倍),可擴(kuò)展到512MBnPath planning of up to 36 axes 可以達(dá)到36個(gè)軸的控制路徑nHandling of 7 simultaneous 10/100 Mbps Ethernet channels 可同時(shí)處理7個(gè)10/100Mbps Ethernet 通道nPentium-M version available 2004Q4 = even high

16、er performance 版本: Pentium-M version =甚至更高的性能nAxis computer 軸計(jì)算機(jī)nMotorola PowerPC 250 MHz (6 times S4Cplus) 計(jì)算機(jī):Motorola PowerPC 250 MHz (S4Cplus的六倍),nPosition and speed control of up to 9 axesn可達(dá)到9個(gè)軸的位置和速度控制nPosition measurement of up to 14 axes 可達(dá)到14個(gè)軸的位置測(cè)量nDistributed, networked (Ethernet) for Mu

17、ltiMove applications 用于多運(yùn)動(dòng)應(yīng)用的分布式,網(wǎng)絡(luò)式的(Ethernet)nPMC (PCI Mezzanine card) slot for connection of 3rd party cards (e g high speed I/O, force control, encoder i/f, control of 3rd party motors) PMC (PCI 卡)插槽用于連接第三個(gè)相關(guān)卡(例如:高速I/O,動(dòng)力控制,編碼器i/f,第三個(gè)電機(jī)的控制) ABB University -22IRC5 OperatorField buses 現(xiàn)場(chǎng)總線現(xiàn)場(chǎng)總線nFie

18、ld bus scanners 現(xiàn)場(chǎng)總線掃描nOne channel DeviceNet Master/Slave 一個(gè)DeviceNet Master/Slave通道nODVA certified, supports up to 500 kBaud ODVA授權(quán),可以達(dá)到500kBaud的支持nTwo channel Profibus DP Master/Slave 兩個(gè)Profibus DP Master/Slave通道nSupports up to 12 Mbps 可以達(dá)到12 Mbps的支持nTwo channel Interbus Master/Slave 兩個(gè)Interbus Ma

19、ster/Slave通道nBoth copper-wire and fiber-optic interface available 可以使用銅線和光纖nEthernet IP Master/SlavenABB is unique in the possibility to mix field buses of different brands 在各種品牌混合的現(xiàn)場(chǎng)總線方面,ABB是獨(dú)一無(wú)二的 ABB University -23IRC5 OperatorReliability 可靠性可靠性nDrive system 驅(qū)動(dòng)系統(tǒng)驅(qū)動(dòng)系統(tǒng)n6-pack main servo drive 6個(gè)伺服驅(qū)動(dòng)

20、包n54 % less connectors, 7% less components, 42 % less PCB:s compared with S4Cplus (IRB 6600, 6 axes)與S4Cplus 比較,減少54%的連接,7%的組件,42%PCBnSingle pack units for additional axes 對(duì)于附加軸有單個(gè)驅(qū)動(dòng)單元nCarrier for mass memory unit 大容量存儲(chǔ)器支架大容量存儲(chǔ)器支架nEasy to swap solid state drive / hard drive in computer unit 容易更換計(jì)算機(jī)里

21、的固態(tài)驅(qū)動(dòng)/硬盤驅(qū)動(dòng)nCooling system 冷卻系統(tǒng)冷卻系統(tǒng)nReduced number of fans: S4Cplus = 9 IRC5 = 7 減少了風(fēng)扇的數(shù)目: S4Cplus = 9 IRC5 = 7nNo fan on main computer CPU 主計(jì)算機(jī)CPU上沒有風(fēng)扇nDrive system fans are on-off controlled to extend lifetime 驅(qū)動(dòng)風(fēng)扇是開關(guān)控制,延長(zhǎng)了壽命nStandard +45 C ambient T, option +52 C 標(biāo)準(zhǔn)的+45 C 周圍環(huán)境,可選擇+52 C nNo air fil

22、ters required 無(wú)必須的空氣過濾nNon-battery UPS for power failure backup 沒有掉電保護(hù)UPS電池nUltraCap unit with min. 8 years lifetime = maintenance free (S4Cplus: battery pack with 3 years lifetime)UltraCap單元最少8年的壽命=維修方便(S4Cplus: 電池3年壽命) ABB University -24IRC5 OperatorIRC5 RobotWare 5.0 nReuse S4 architecture 重新利用S4

23、的構(gòu)造nRAPID based and compatible with S4 RAPID programs RAPID基于和兼容S4程序nEnhanced system configuration features 增強(qiáng)了系統(tǒng)的特性配置nNew communication functionality 新的通訊功能性nMultiMove Support 協(xié)同運(yùn)動(dòng)支持nMany improvements on all areas 在個(gè)方面更多的改進(jìn) ABB University -25IRC5 OperatorIRC5 SW Overview IRC5 SW 概觀概觀Platform isolat

24、ion layer and system architecture獨(dú)立的平臺(tái)土層和系統(tǒng)構(gòu)造Axis Control軸控制Motion Control電機(jī)控制RapidSystemResourceManager系統(tǒng)資源管理NetworkCom.Pendant&PCApplications示教&PC應(yīng)用S4Carry overS4延續(xù)Process support 過程支持Win.NetHW Support 硬件支持 ABB University -26IRC5 OperatorRobotWare 5.0 General view 概要概要nBased on RW 4.0 基于RW4.0nPort

25、ed to new hardware platform 通信于一個(gè)新的硬件平臺(tái)nReplace 4.0 features: 替代了4.0特性nCommunication system 通訊系統(tǒng)nTeach Pendant Applications 示教器應(yīng)用nAxis control subsystem 軸控制子系統(tǒng)nDeviceNet subsystem DeviceNet 子系統(tǒng)nSafety subsystem 安全子系統(tǒng)nAdd and adapt countless of features to support the modular architecture including M

26、ultiMove 增加和改進(jìn)了很多支持模構(gòu)造的特性,包括協(xié)同運(yùn)動(dòng)nAdd support for outstanding network communication capabilities to support RobotStudio, FlexPendant, OPC etc. 增加了支持RobotStudio, FlexPendant, OPC等突出的網(wǎng)絡(luò)通訊能力, ABB University -27IRC5 OperatorNews in RobotWare 5.0 OS 新聞新聞nRW - Socket Messaging RW-Socket 信息 nRW - Ethernet I

27、P RW 以太網(wǎng)IPnRW - Continuous Application Platform RW 連續(xù)應(yīng)用平臺(tái)nController Name/Controller ID控制器名稱/控制器IDnRobotWare Product Portfolio RobotWare產(chǎn)品端口頁(yè)碼nLoad Identification in RobotWare OS 在RobotWare OS里登錄標(biāo)識(shí)nHigh Performance Sensor tracking 高性能的傳感器跟蹤 nMultiMove System 多運(yùn)動(dòng)系統(tǒng)nUser Authorization System 用戶授權(quán)系統(tǒng)nSy

28、stem Property Browser 系統(tǒng)特性瀏覽器nUSB Memory USB存儲(chǔ)器nDHCP on service port 在服務(wù)端口的DHCPnCustomer Error Messages 用戶錯(cuò)誤信息 ABB University -28IRC5 OperatorRAPID News RAPID-新聞新聞nImproved Support in RW option: File and Serial channel Handling 在RW選項(xiàng)種,改進(jìn)的支持:文件和串行通道nNew Data types and instructions 新的數(shù)據(jù)類型和命令nNew monit

29、oring of Persistent variables 新的可變量的監(jiān)控nSupport for traps on value changes 支持?jǐn)?shù)值改變的中斷nExtended support for calibration from RAPID 在RAPID中擴(kuò)大了校準(zhǔn)支持nTool/Frame 工具/框架nAdditional Axes 外加軸nGenerate customized error messages 產(chǎn)生用戶定義錯(cuò)誤信息產(chǎn)生用戶定義錯(cuò)誤信息nComplete language support, including Asian characters 全面的語(yǔ)言支持,包括

30、漢語(yǔ)nSynchronized program execution between RAPID tasks 在RAPID任務(wù)間,同步程序執(zhí)行nPossibility to synchronize between Multitasking programs 在RAPID多任務(wù)間,同步的可能性nUndo handler 取消管理者取消管理者nCompare to backward handler 比喻為”退步的管理者”nResets data from an ongoing instruction execution, to be able to fast change of program wi

31、thout remaining unwanted effects. 可以從正在執(zhí)行的命令中重新設(shè)定數(shù)據(jù), 沒有很大的影響下,可以快速的更改程序 ABB University -29IRC5 OperatorCommunication News 通信通信-新聞新聞nNetscan 網(wǎng)絡(luò)瀏覽nAutomatic identification of IRC5s connected to the LAN. 自動(dòng)識(shí)別連接IRC5s的局域網(wǎng)nDHCPnEasier and faster connection to the controller 更容易和快速的控制器的連接nSNMPnStandard Sim

32、ple Network Management Protocol 標(biāo)準(zhǔn)的簡(jiǎn)單的網(wǎng)絡(luò)管理協(xié)議nRobAPInAn common internal communication protocol, used by all networked based applications (e.g. Teach Pendant, Robot Studio, OPC, WebWare, Robot SDK) 通用的內(nèi)部通訊協(xié)議,所有基本的網(wǎng)絡(luò)應(yīng)用(如:示教器, Robot Studio, OPC, WebWare, Robot SDK)nNote: RobAPI is not a public protocol 注意: RobAPI不是公用的協(xié)議nRW - Socket Messaging Socket信息信息nCreate network communication solution using Rapid 使用Rapid產(chǎn)生網(wǎng)絡(luò)通訊方案nOPC server OPC服務(wù)器服務(wù)器nImproved speed and functionality 改進(jìn)了速度和功能 ABB University -30IRC5 OperatorSystem functions