globalcommoncontrolsoftwaredesign(機器人概念)-文庫吧在線文庫
【正文】 …Rob ot i ndic a t e s to P LC“Mo v ing to Pounc e ”Rob ot i ndic a t e s to P LC“A t P ounce ”Rob ot w a its for P LC t oc ont inue from pounceRob ot i ndic a t e s to P LC“In W e ld P a th”Sample – Weld, Pick and Drop 舉例－焊接、抓料、放料 Seg 1: Pounce Seg 31: Move clear of drop Seg 63: All Clear Seg 50: Weld Request to Continue “At Pounce” Seg 51: Clear for clamps to open “All Clamps can now open” Request to Continue “Are All Clamps Open?” Seg 10: Pick Clear Part Switches Request to Continue “Are Part Switches OFF?” Seg 11: Move clear of tool Request to Continue “Is drop ready?” Seg 30: Drop Clear Part Request to Continue “Are Part Switches ON?” Path Decision Control 路徑 Decision控制 ? Decision Code numbers are used when different paths are required within the same robot style 一車型程序中有多個路徑時需要 Decision Code ? Typical use: Multiple pick / drop locations for the same style of part 同個車型的多次抓放料 ? Requires robot to be at a “Request to Continue” point 需要有 “Request to Continue” 點 ? Decision code is read by the robot when “Continue Ok” bit is ON from the controller and is then echoed back to controller 當控制器發(fā)出 “Continue Ok” 后機器人要讀Decision code 。然后再反饋給控制器。GCCS1 Global Common Control Software Design Core Section 8: Robot Concepts 機器人概念 Objectives目標 ? Describe the interface between robot and the cell controller 機器人和控制器的連接 ? Describe the use of style numbers between the cell controller and the robot 機器人和控制器的車型選擇 ? Describe the use of option bits between the cell controller and the robot 機器人和控制器的可選位 ? Describe the use of “path segments.” 使用 “path segments.” ? describe the use of “Request to Continue” and “OK to Continue” bits 使用 “Request to Continue” 和 “ OK to Continue” ? Describe the features of the selection cursor of the HMI’s robot functions screen 描述在 HMI機器人屏幕上的選擇屬性 ? Describe the features of the function list of the HMI’s robot functions screen描述在 HMI機器人屏幕上的功能特性 ? Describe the features of the robot status displays of the HMI’s robot functions screen描述在 HMI機器人屏幕上的狀態(tài)特性 Robot Specification 機器人特性 ? RS1 Robot Technical Specification 機器人技術(shù)特性 RS1 ? Out of the box content 書本內(nèi)容之外的 ? DeviceNet munication for all control signals 所有控制信號的DeviceNet通訊 ? Ether for upload/download support 以太網(wǎng)的上傳 /下載 ? RS2 Robot Simulation RS2機器人模擬 ? RS3 Robot Integration RS3機器人集成 ? Path segment Tables 路徑 segment 表 ? Robot Dress 機器人 Dress ? RS4 Robot Interface (More on RS4 later in this module) RS4機器人連接 ? RS5 Robot Programming 機器人編程 RS2 – Robot Rules of Process 機器人工藝規(guī)則 RS2 sets the outer bounds limits for robot processing. These limitations are critical to the ability to purchase mon equipment. RS2設置機器人工藝的外部規(guī)定。 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）明確了機器人在一個車型路徑中的位置 – For example: A robot with Path Segment number equal to 1 represents the robot “Moving to Pounce” 若機器人路徑段為 1是表示機器人 “Moving to Pounce” – Path Segment numbers shall be unique within a
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