global common control software design(機(jī)器人概念)(文件)
【正文】 ot functions screen描述在 HMI機(jī)器人屏幕上的狀態(tài)特性 Robot Specification 機(jī)器人特性 ? RS1 Robot Technical Specification 機(jī)器人技術(shù)特性 RS1 ? Out of the box content 書本內(nèi)容之外的 ? DeviceNet munication for all control signals 所有控制信號(hào)的DeviceNet通訊 ? Ether for upload/download support 以太網(wǎng)的上傳 /下載 ? RS2 Robot Simulation RS2機(jī)器人模擬 ? RS3 Robot Integration RS3機(jī)器人集成 ? Path segment Tables 路徑 segment 表 ? Robot Dress 機(jī)器人 Dress ? RS4 Robot Interface (More on RS4 later in this module) RS4機(jī)器人連接 ? RS5 Robot Programming 機(jī)器人編程 RS2 – Robot Rules of Process 機(jī)器人工藝規(guī)則 RS2 sets the outer bounds limits for robot processing. These limitations are critical to the ability to purchase mon equipment. RS2設(shè)置機(jī)器人工藝的外部規(guī)定。然后再反饋給控制器。 Path Segments 路徑段 ? The Path Segments numbers (0 to 63) identify the location of a robot along its path within a style program.路徑段（ 0到 63）明確了機(jī)器人在一個(gè)車型路徑中的位置 – For example: A robot with Path Segment number equal to 1 represents the robot “Moving to Pounce” 若機(jī)器人路徑段為 1是表示機(jī)器人 “Moving to Pounce” – Path Segment numbers shall be unique within a style program 在一個(gè)車型程序內(nèi)路徑段號(hào)不可重復(fù) – Path Segment numbers are reused between style programs (for example: Path segment 50 is always “Robot in Process”, but different style programs will have different process paths) 在不同車型程序可有相同的路徑段號(hào)（舉例：路徑段號(hào) 50通常表示 “Robot in Process”, 但不同車型程序有不同的工藝路徑） Path Segment Standard Definitions 路徑段標(biāo)準(zhǔn)定義 Segment Usage 0 Unknown / Invalid segment 未知 /不可用 1 Pounce segment 2 3 Home to Repair segment Repair to Home segment 4 Process 1 Tip Dress/Purge segment 5 Process 2 Tip Dress/Purge segment 6 Cap Change segment 電極帽更換 7 8 9 Reserved 保留 10–59 Template segments 模板 60 61 Reserved 62 Tool Clear segment (Optional) 工位清除 63 All Clear segment 所有清除 ? Path segments 1059 have template definitions. 路徑段 1059有模板定義 ? Most robots shall use these template segment numbers. 大部分機(jī)器人用這個(gè)模板定義號(hào) ? Some robots may require redefining these segments based on the application, for example a pizza rack or stacker robot with multiple drop locations. 有些機(jī)器人根據(jù)需要重定義。每個(gè)位置可分 4個(gè)段 5054 5559 Process 1 Process 2 There are 2 places where a robot can be processing (., weld, dispense). Each place can be divided into 5 segments. (This allows Repo Clamps.)有 2個(gè)位置給機(jī)器人處理。然后反饋給控制器。 例如在焊接操作時(shí)，焊槍不關(guān)閉但焊槍backup繼續(xù)動(dòng)作 ? In FFR, the robot will stop at an appropriate position to allow repair 在 FFR，機(jī)器人會(huì)停在合適的位置，以便維修 – An end of arm welding robot will return home and then go to repair 有焊接的機(jī)器人會(huì)先回原位再到維修位置 – A pedestal welding robot will move clear of the weld gun and stop. 有pedestal焊接機(jī)器人會(huì)移到和焊槍不干涉位置后停止。 the application defines the meaning. For example Process 1 or 2 Enabled could be: 常用信號(hào)名稱；定義應(yīng)用，工藝 1或 2常用作： ? For Spot Welding對(duì)焊接 — weld on / off 開 /關(guān) ? For Dispensing對(duì)涂膠 — wet / dry) 濕 /干 ? The HMI shows process specific messages (., robot screen, alarms, prompts) 在 HMI中顯示工藝的相關(guān)信息（機(jī)器人，報(bào)警，提示） Status Miscellaneous Signals 狀態(tài)和混合信息 Controller to Robot Robot to Controller User Definable 14 User Definable 14 At Home 原位置 Fast Fault Recovery 快速恢復(fù) Interlock 連鎖 Isol
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