GlobalCommonControlSoftwareDesign(机器人概念)

GCCS-1GlobalCommonControlSoftwareDesign,CoreSection8:RobotConcepts机器人概念,签辐磨蛔档配趋溅哗冻吉俺封件腔凉募剖勤坏诱港槐知脑工纂廖除皖徒嘴GlobalCommonControlSoftwareDesign(机器人概念)Section13-RobotConcepts,Objectives目标,Describetheinterfacebetweenrobotandthecellcontroller机器人和控制器的连接Describetheuseofstylenumbersbetweenthecellcontrollerandtherobot机器人和控制器的车型选择Describetheuseofoptionbitsbetweenthecellcontrollerandtherobot机器人和控制器的可选位Describetheuseof“pathsegments.”使用“pathsegments.”describetheuseof“RequesttoContinue”and“OKtoContinue”bits使用“RequesttoContinue”和“OKtoContinue”DescribethefeaturesoftheselectioncursoroftheHMIsrobotfunctionsscreen描述在HMI机器人屏幕上的选择属性DescribethefeaturesofthefunctionlistoftheHMIsrobotfunctionsscreen描述在HMI机器人屏幕上的功能特性DescribethefeaturesoftherobotstatusdisplaysoftheHMIsrobotfunctionsscreen描述在HMI机器人屏幕上的状态特性,藩蜕荆瞧福沾伴刊销消很丑蓄由舅琉报估页凶烙悲砰澎罕盗杨釉瘪纫弹辩GlobalCommonControlSoftwareDesign(机器人概念)Section13-RobotConcepts,RobotSpecification机器人特性,RS1RobotTechnicalSpecification机器人技术特性RS1Outoftheboxcontent书本内容之外的DeviceNetcommunicationforallcontrolsignals所有控制信号的DeviceNet通讯Ethernetforupload/downloadsupport以太网的上传/下载RS2RobotSimulationRS2机器人模拟RS3RobotIntegrationRS3机器人集成PathsegmentTables路径segment表RobotDress机器人DressRS4RobotInterface(MoreonRS-4laterinthismodule)RS4机器人连接RS5RobotProgramming机器人编程,魏附觉锣轩艰优浴痛氓鼻亨药沮姨米坡癣洲哇持功泥轻茬骋续忻坝凉篷欣GlobalCommonControlSoftwareDesign(机器人概念)Section13-RobotConcepts,RS2RobotRulesofProcess机器人工艺规则,RS2setstheouterboundslimitsforrobotprocessing.Theselimitationsarecriticaltotheabilitytopurchasecommonequipment.RS2设置机器人工艺的外部规定。对采购共用设备有严格规定。Maximumof24RobotsperCell(GatedArea)一个Cell最多24台机器人Maximumof2processcontrolpanels最多两个工艺控制Examples:2SpotWeldcontrollers,1spot,1dispense两个焊接控制器，一个焊接，一个涂胶Maximumof2endeffectorfunctions最多两个终端effector功能Examples:2Weldguns,1weldguntheapplicationdefinesthemeaning.ForexampleProcess1or2Enabledcouldbe:常用信号名称；定义应用，工艺1或2常用作：ForSpotWelding对焊接weldon/off开/关ForDispensing对涂胶wet/dry)湿/干TheHMIshowsprocessspecificmessages(i.e.,robotscreen,alarms,prompts)在HMI中显示工艺的相关信息（机器人，报警，提示）,双朴愁官请仆望蔬玩习盲帝声端调碘泪招距食贩拍打服井覆轻竭佐辕孰绵GlobalCommonControlSoftwareDesign(机器人概念)Section13-RobotConcepts,Status&MiscellaneousSignals状态和混合信息,沈拨卑绩沧址蔫蔫捅除铁充胶娜涡破勿投挟植循储酞抖怜劳讼轴瘟涕审颊GlobalCommonControlSoftwareDesign(机器人概念)Section13-RobotConcepts,FastFaultRecovery快速恢复,FastFaultRecovery(FFR)isenabledatrobotwhenthereisaprocessfault.“TaskOK”turnsOFFwhenFFRturnsON.当有工艺故障时可用快速恢复。将“TaskOK”关闭，同时打开FFRTurningonFFRcausestherobottocontinuewithoutprocessingthepart.Forexample,inaspot-weldingoperation,theweldgundoesntclosebuttheweldgunbackupstilloperates.打开FFR导致机器人继续但不操作。例如在焊接操作时，焊枪不关闭但焊枪backup继续动作InFFR,therobotwillstopatanappropriatepositiontoallowrepair在FFR，机器人会停在合适的位置，以便维修Anendofarmweldingrobotwillreturnhomeandthengotorepair有焊接的机器人会先回原位再到维修位置Apedestalweldingrobotwillmoveclearoftheweldgunandstop.有pedestal焊接机器人会移到和焊枪不干涉位置后停止。,敝棉被仲铬底穴胺醇百敞毯婴绿脸披性篆上樊胳弘脚砚酵事鱼满掖牺邢发GlobalCommonControlSoftwareDesign(机器人概念)Section13-RobotConcepts,RobotScreen机器人屏幕,TheROBOTSscreenshowsthestatusofallrobotsincellandprovidesmaintenancefunctionsforthoserobots机器人屏幕显示所有CELL内机器人状态和针对机器人的维护功能,静渭丑融绸考婿韵疯碟挪倡长喝檀间煞涟稍人窑孩及蝶换夕镜冒崔弗瘸郁GlobalCommonControlSoftwareDesign(机器人概念)Section13-RobotConcepts,RobotScreen机器人屏幕,裴首妈臆多葱咋削约凳拦酒魏昌街艳得蜜脑靡腊葬袋工壹稻彩煤胶谐挑回GlobalCommonControlSoftwareDesign(机器人概念)Section13-RobotConcepts,RobotScreenFunctionList机器人功能屏幕,FunctionsforSelectedRobots,咽菊前缆馅备具魂雹触烈氢哟欢徒幸揖亦揉箩娱乃婪赃驻夺畏督疫誓也上GlobalCommonControlSoftwareDesign(机器人概念)Section13-RobotConcepts,Exercise1,DrawaRobotPathAnswerKeyFollows,涎骏汹堵剖掇爱晦卉贯诞污墩喧癌锈耽术因夷翼悼蚕汇浚撤争据顽痈系就GlobalCommonControlSoftwareDesign(机器人概念)Section13-RobotConcepts,Exercise1AnswerKey,1,10,11,14,15,30,31,50,63,RTC,Dec1,Dec2,RTC,RTC,RTC,RTC,RTC,NoPartcheck,IsDropready?,Partcheck,AreClampsClosed?,化伊忘墅抑瘟淬操筐藻肾皑忿疫蛛斡方吸坊贫脾楔痊闸哄才襄拍蛾订础皑GlobalCommonControlSoftwareDesign(机器人概念)Section13-RobotConcepts,Review,WhatrobotspecificationcoverstheinterfacebetweentherobotandtheMCPcontroller?HowarestylenumbersusedbetweentheMCPcontrollerandtherobot?HowareoptionbitsusedbetweentheMCPcontrollerandtherobot?Whatdopathsegmentssignaltothecontroller?Whatisa“RequesttoContinue”bit?Whatsetsthe“RequesttoContinue”bit?Whatisan“OKtoContinue”bit?Whatsetsthe“OKtoContinue”bit?Whatfunctionscanbeselectedf