关于kuka机器人sca涂胶机视觉系统配置的总结1

1、 Automobile Production Solution 汽车工业设备专家 Auto Industry Equipment Specialist 关于关于KUKA机器人机器人SCA涂胶机视觉系统配置涂胶机视觉系统配置 的总结的总结 陈泳润陈泳润 2015-10-29 27th August 20141 1 框架内容 技术经验总结 标准化总结 后续改造注意事项 27th August 20142 2 技术经验总结 硬件图纸设计/选型 软件设计/调试 机器人示教调试 电气安装 27th August 20143 3 Step1 文件文件Import/ExportImport/Export导入

2、设备说明文件导入设备说明文件继续继续继续继续查找查找选择相应的选择相应的GSDGSD文件文件 打开打开继续继续完成完成关闭关闭 27th August 20144 4 Step2 打开并激活项目打开并激活项目选择选择Profibus IOProfibus IO右键，点击添加右键，点击添加选择选择FC310C-SlaveFC310C-SlaveOKOK双双 击击FC310C-Slave FC310C-Slave 选择选择Module CongfigurationModule Congfiguration选择选择4 WORD Slave-In/Master-4 WORD Slave-In/Mast

3、er- Out&Out& 1 1 WORD WORD Slave-Out/Master-In Slave-Out/Master-In ApplyApplyOKOK 27th August 20145 5 根据标准文档，根据标准文档，SCASCA涂胶机控制器的地址为涂胶机控制器的地址为5050 FIELDBUS MASTER ADDRESSES AddressAddressAddressAddress MASTER NODE1TOOL CHANGER21available41available61 available2WELDING GUN/NUT/BOLT 122STUD WELDING PO

4、WER SOURCE 142available62 available3WELDING GUN/NUT/BOLT 223available43available63 TOOL_STAND4WELDING GUN/NUT/BOLT 324available44available TOOL_STAND5WELDING GUN/NUT/BOLT 425available45available TOOL_STAND6available26GLUE SYSTEM 146available TOOL_STAND7WELDING TIMER 127GLUE SYSTEM 247available TOOL_

5、STAND8WELDING TIMER 228GLUE SYSTEM 348available available9available29GLUE SYSTEM 449available available10available30GLUE VISION 150available available11available31GLUE VISION 251available available12APPLICATION BOX132GLUE VISION 352available available13APPLICATION BOX233GLUE VISION 453available avai

6、lable14available34GRIPPER54available available15available35GRIPPER55available available16available36GRIPPER56available available17MEDIA PANEL 137GRIPPER57available available18MEDIA PANEL 238GRIPPER58available available19available39GRIPPER59available available20available40GRIPPER60available 27th August 20146 6 Step3 双击双击EL6731 PROFIBUS MasterEL6731 PROFIBUS MasterSlave settingsSlave settingsProfibus address 50Profibus address 50OKOK 27th August 20147 7 Step4 选择输入输出接线选择输入输出接线现场总线现场总线映射（映射（$IN1900/$OUT1900$IN1900/$OUT1900开始）开始） 27th August 20148 8 St