发那科机器人焊接应用的IO配置(总线型)

1、发那科机器人焊接应用的i/o配置(总线型)<h2xa name=1”>version lnformation</ax/h2> <pre><ahref="#top">【top】 </a><br>f number: yh14979version : spottook$version: v7.509306/14/2010date:14-aug-11 18:21version information:id:7da5/12 :88150 yh14979software: spottook s/w serial n

2、o. controller iddefault personality (from fd) r-2000ib/210fv7.50p/12servo code : v15.01 cart. mot. parameter: v3.00 j nt. mot. parameter: v3.00 dcs:nonesoftware edition no.: v7.50p/12:none:nonev7.5093 :v7.70p/06:7d0f/01m :v7.7004:v7.7004 06/24/2010update version customization ver. root version boot

3、monitor teach pendant browser plugins tp core firmware media from frlconfig:feature:ord no:spottookh590english dictionary h521 multi language (chin) h539 aa vision mastering aavm analog i/oh550auto software update atup automatic backup j545 background editing j616 camera l/f vcam cell i/ocliocommon

4、shell r645 common shell core cmsc common softpanel cmspcommon style select styl condition monitorj628constant pathr663control reliablecnrecorner regionr654diagnostic logrschdisable faultscdsbdispense plug-in splg dual check safety uif dcsu enhanced mirror image r698 enhanced rob serv req orsr enhanc

5、ed t1 mode r680 enhanced user frame j604 ext. dio config eioc extended error log r542 external di bwdesetfctn menu save j516 ftp interface j716 group mask exchange mask high-speed skip j627 host communications hoco hour meterj513i/o interconnect 2j542incr instruction j510 karel cmd. language j650 ka

6、rel run-time env j539 kernel + basic s/w h510 license checker lchk logbook(system) oplg macros, skip/offset j503 mh gripper common mhgc mat.handling option mplg mechstop protection mcsp mirror shift j506 mixed logic j554 mode switchmdswmotion loggerr637multi appl enabler maen multi equipment j617 mu

7、lti-taskingj600position registers j514 print functionj507prog num selection j515 program adjust j517program shift j505 program statusprstprogram too旧ox r598 rdm robot discovery frdm robot service request srsr robot servo code h930 snpx basicsnbaseal common slcm shift library shlb shift and mirror li

8、b smlb soft parts in vccm spvc spot plug-insppgtcp auto setj520tcp speed prediction j524 tcp/ip interfacehtcptmilib interfacetmiltp menu accounting tpac tptxtptxtelnet interface teln tool offsetj509unexcepted motn check ueck user frameufrmvision corevcorvision libraryviplvision sp csxc csxc vision s

9、hift toolcvvfweb serverhttpweb svr enhancements r626 ipendantcgtpipendant grid display igui ipendant setupipgsr-2000ib/210fh601servo gun axesh869auto tuning csj952collision guardr534collision guard pack j684 cycle time priority j523 devicenet interface j753 devicenet(slave) j754 disp 2nd analog port

10、 r528 extended axis control j518 extended user frames r696 fanuc servogun change j665 frl paramsr651hmi device (snpx) r553 multi-group motion j601 pc interface r641 pmc(fapt ladder) j760 password protection j541 ros ethernet packets r603 servo gun option j643 servo gun wt compens j933 space check j6

11、09 usb port on ipendant j957 yellow boxj775ircalibration vshift j994 arc advisor r666 aux servo code svmo common calib uif cuif cycle time opt. ctop extended axis speed exts func stupfcsphttp proxy svr prxy high speed servogun j886 intelligenttp pc l/f j770 jpn arcpsu prm j885 motherboard driver mob

12、o pc send macros send pressure controlpctlrequires cpcprqrobot library setup rlcm sspc error textetssservo gun corej670servo hand change svhc sgdiag core sgdg socket messaging r636 soft limit slmt tcpp extention tcpe vcalibration common vccm visshift l/f common cvvc vision shift common cvvs istdpnli

13、pnlipendant hmi setup u001 rm help incl vis pkgs u004 smb tp backup u006 ripe get_var fix u007 flextool: add r729.fd u008 cvis add ep adv pkg u009cvis no wtwtest load u010 load help for select u011 false alarm cpmo-130 u012 md: hang from intp u013 r709 dram availchecks u014 cvis vpcs supp limchk u01

14、5 cvis vpff pos dif fix u016 8-12 character progra u017 save framevar.sv u018 tp enable noam u026 strcture shadow updat u027 ripe statics too much u028 timq motn-003 u030 roboguide daughter u032 disable touch in edit u033 path node moveto u035 riperemove time retry u038 vmxpack may assert u039 cycle

15、 data maybe cor u040 too many arc options u043 pmc display wait fix u044 apsh-171 fix u045 slow t1 motnu046get_pos_tpe fixu047jog disable by app wa u048 cvis vpep hist rt fix u049 mxspd tb cpmo003 u050 cvis barcode enhance u051 prv save may not work u052 high ripe traffic fix u053 print from sysvar

16、scr u054 program adjust for sh u058 ripe/getset error han u060 ipendant screen unrea u061 handle part correctio u064 no file background ed u066 cvis ep pkg incl svip u067 six digit versions u068 cvis new version p06 u069 image save load u070 disp proc issue u071 replan joint delta u078 tp edit callf

17、rom fix u079 cvis fix ipndt rt img u080$coord_mask default u084 r719 enhancemnt/fixes u085 local hold timqadjus u097 pg: chdelmon can caus u100 cvis: 3d multi-view d u101 increase number of fd u103 karel cannot access m u104 robot settings are io u108 paint - wait/release u109 flextool: backward mo

18、u114 paint - paintpro repa u117 edit screen is closed u500 antidefect uif fix u507 pnio v750 fix1 u509 fix loading db sysvar u510 fix edge detection u511 online help bugfix u512 cvis: cam calib fix u514 disp custom for ssgun u515 fix abc jarky motion u517 millimeter conversion u518 garbled str reg u

19、519 alarm text bug fix u520 disp cust dry for ssg u521 improve lwr detection u523 cvis freeze vlog task u525 vp2s mm conversion u526 fix tp freeze ibpx u527 fx db/tb busy running u528 record calibration lo u529 div calculation fix u530 fix for bwd return u531 condition monitor fix u532 vofs: unexp a

20、larm fix u533 fix servo gun text u534 fix fence svemg abnml u535 dcs cc_safeio alarm u537 improved gun touchup u540 fix gun chg with dnet u541 update guntch paeams u542 dot pettern bug u543 cvis:旧vision bug fi u544 update svgn error txt u545 fix toolchg with dnet u546mlock chk with gunchg u547 mech

21、comp for guntch u549 improve guntch params u550 vision memory leak u551 fix unwanted message u552 support det soft work u553 cvis:spec change of v u554 grid detect bug fix u559motor:gr: ax: motor id and info:1 1acaisr30/300080ah1 dsp1-l12 acaisr30/3000 80a h2dsp1-m13 acaisr30/3000 80a h3 dsp1-j14aca

22、12/4000is40a h4dsp1-k15aca12/4000is 40a h5 dsp2-l16aca12/4000is40a h6 dsp2-m1 7aif22/300080a h dsp-2 1ais8/400080a h dsp-servogroup: axis: servo param id:11 p02.0612 p02.0613 p02.0614 p02.0615 p02.0616 p02.0617 p00.3921p00.39</prexh2xa name=h2n>memory detail</ax/h2> <prexa href=n#topn

23、>【top】 </axp>memory usage-memory detail (main):poolstpppermsystemshadowtemptotal available largest 800.0kb577.8kb555.0kb1978.0kb371.6kb366.5kb7182.0kb2.5kb2.5kb5894.5kb5556.5kb32.0kb21052.5kb1422.8kb714.2kbfrom 31857.0kb9258.0kb .0kbhardwarefrom 32mbdram 32mbsram 2mbmemory detail (comm):poo

24、lstotalavailable largesttpp0.0kb0.0kb0.0kbperm 48.0kb47.8kb47.8kbsystem 6144.0kb5553.0kb5553.0kbshadow 5894.5kb5556.5kb32.0kbtemp 9844.5kb8201.3kb7949.9kb</prexh2xa name="3">program status lnformation</ax/h2> <prexa href=n#topn>【top】 </a<p>task states:1 reset sta

25、tus = aborted* history data *routine depth: 0 routine: resetline:1 program: resettype: tp2 sthichng status = aborted* history data *routine depth: 0 routine: sthichngline: 128 program: sthichngtype: pc3 pnlinst status = aborted* history data *routine depth: 0 routine: pnlinstline: 223 program: pnlin

26、sttype: pc4 pscold status = aborted* history data *routine depth: 0 routine: pscoldline: 93 program: pscoldtype: pc5 syrsrutl status = aborted * history data *routine depth: 0 routine: syrsrutlline: 63 program: syrsrutltype: pc6 svgnch status = aborted* history data *routine depth: 0 routine: svgnch

27、line: 287 program: svgnchtype: pc7 sgdiaini status = aborted* history data *routine depth: 0 routine: sgdiainiline: 204 program: sgdiainitype: pc8 atshell running 1055 in atshell of atshell* history data *routine depth: 0 routine: atshellline: 1055 program: atshelltype: pc9 loadcell status = aborted

28、* history data *routine depth: 0 routine: pbcoreline:0 program: pbcoretype: 010 mhgrshll running 1213 in mhgrshll of mhgrshll* history data *routine depth: 0 routine: mhgrshllline: 1213 program: mhgrshlltype: pc11 swaxtsk1 running 758 in processamr of swaxtcmn* history data *routine depth: 1 routine

29、: processamrline: 758 program: swaxtcmntype: pcroutine depth: 0 routine: swaxtsk1line: 172 program: swaxtsk1type: pc12 swaxtsk2 running 758 in processamr of swaxtcmn* history data *routine depth: 1 routine: processamrline: 758 program: swaxtcmntype: pcroutine depth: 0 routine: swaxtsk2line: 120 prog

30、ram: swaxtsk2type: pc13 slcustom running 1647 in slcustom of slcustom* history data *routine depth: 0 routine: slcustomline: 1647 program: slcustomtype: pc14 swimset status = aborted* history data *routine depth: 0 routine: swimsetline: 348 program: swimsettype: pc</pre><h2xa name="4&q

31、uot;i/o status information</ax/h2> <prexa href=u#top,x/axp>io status:din【1offdin【2offdin【3offdin【4offdin【5offupper tip resetdin【6offlower tip resetdin【7offtest rundin【8offtip change completedin【9offdin【10】offdin【11】offdresscompletedin【12】offdress_2 completedin【13】offdress_1 adv.lsdin【14o

32、ffdress_2adv.lsdin【15】offdress_1 ret.lsdin【16】offdress_2 ret.lsdin【17】offdin【18】offdin19】offtc15step1din20】offtc1 5step 2din21】offtc1 5step 3din22offtc1 5step 4din23】offtc25step 1din24】offtc25step 2din25】offtc2 5step 3din26offtc2 5step 4din27offpop weld completedin28】offdin29】offdin30】offdin31】offgu

33、n cover opendin32】ongun cover close lsdin33】offhand cover opendin34onhand cover closedin35】offahc cover-3 open lsdin36】offahc cover-3 close lsdin37offahc cover-4 open lsdin38】offahc cover-4 close lsdin39】offgun1 2nd st open lsdin40】offgun2 2ndst open lsdin41】offchuck open confirmdin42】onchuck close

34、confirmdin43onahc facedin44】offdin45】offdin46】offdin47offrobot 2nd startdin48】offdin49】offweld completedin50】offdin51】offdin52】offdin53】offdin54offdin55】onstyle 1din56】offstyle2din57offstyle4din58】offstyle8din59】offstyle 16din60】offstyle32din61】offstyle64din【62】offstyle128din【63】offgun1steaddin【64】o

35、ffhand steaddin【65】offtool stead 3din【66】offtool stead 4din【67】offdin【68】offdin【69】offdin【70】offdin【71】offjig non-int.din【72】offshuttle nnn-int.din【73】offdin【74】offweld enable 1din【75】offweld enable 2din【76onrobot_g weld comp.1din【77】offdin【78】offdin【79】onpick up ok feederdin【80】offdin【81】offhand ji

36、g conf.din【82】offhand rock adv compdin【83】offjig cover close comp.din【84】offhand rock ret comp.din【85】offjig cover open comp.din【86】onrobct_g i/l1din【87onrobot_g i/l2din【88】offdin【89】offdin【90】offdin【91】offdin【92】offdin【93】offdin【94】offsealer holddin【95】offdin【96】offdin【97】offdin【98】offdin【99】offdin

37、【100offdin【101offdin【102】offdin【103offdin【104】offdin【105】offdindindindindindindindindindindindindindindindindindindindindindindindindindindindindindindindindindindindindindindindindindindindin106】107108】109110】113】114115】116117】118】119】120】121122123】124】125126 127 128】 129】 130】 131】 132 133】 134 13

38、5】136137 138】 139】 140】141142 143】 144】 145】 146】 147】 148】 149】150151off part in station confirm on robot away from station offon gun in stationoff handking in station on sealing material ok off sealing material lacking offoff heating not okoffoffoffoffoffoffoffoffoffoffoffoffoff clamp 1 openon cla

39、mp 1 closedoff clamp 2 openon clamp 2 closedoff clamp 3 openon clamp 3 closedoff clamp 4 openon clamp 4 closedoff clamp 5 openon clamp 5 closed off clamp 6 open on clamp 6 closed off _offoff _offoff part present 1off part present 2offoffoff 2-1-on on 2-1-off off 2-2-ondin【152】on 2-2-offdin【153】on 2-

40、3-offdin【154】on 2-4-offdin【155】offdin【156】offdin【57】on 3-1-offdin【58】off 3-1-ondin【59】on 3-2-offdin【60】off 3-2-ondout1offrobot user alarmdout2offstyle vaerity faultdout3offdout4offdout5offgun cover opendout6offgun cover closedout7offhand cover opendout8offhand cover closedout9offahc cover-3 opendout

41、10】offahc cover-3 closedout11offahc cover-4 opendout12】offahc cover-4 closedout13】offdout14】offtip wear over movedout15】offtip wear over fixdout16】offtip change positiondout17】offtc1 gun fault checkdout18】offtc1 off_set measuringdout19】offdout20】offdout21】offdout22】offdout23】offdout24】offdout25】offd

42、out26】offdout27】offdout28】offdout29offdressor-1 startdout30】offdressor-2 startdout31】offdressor shift1 adv.servodout32】offdressor shift2 adv.servodout33】offpop start1dout34】offpop start2dout35】offpop start3dout【36】offpop start4dout37】offpop weld condition 1dout38】offpop weld condition 2dout39】offpop

43、 weld condition 4dout40】offpop weld condition 8dout41】offpop weld condition 16dout42】offpop weld condition 32dout43】offpop swing adv.dout44】offdout45】offwork completedout46】onshuttle run enabledout47】off2nd work comp.dout48】offgun1 pressdout49】offdout50】offdout51】offunchuck positiondout52】offahc fac

44、edout53】offchuck opendout54onchuck closedout55】offsealer faultdout56】offsealer em.stopdout57】offsealer lowdout58】offsealair pressdout59】offdout60】offdout61】offweld condition 1dout62】offweld condition 2dout63】offweld condition 4dout64】offweld condition 8dout65】offweld condition16dout66】offweld condit

45、ion32dout67】offweld condition64dout68】offweld condition128dout69】onjig non-int.dout70onshuttle non-int.dout71】offtip change run.dout72】offtip dress run.dout73】offdout74offdout75offdout76】offdout77】onfdr. non-int.dout78】offfdr. unload comp.dout79offdout【80】offjig hand clampdout81】offjig cover closedo

46、ut82offjig hand unclampdout83】offjig cover opendout84】onrobot_g i/l1dout85】onrobot_g i/l2dout86】offdout87offdout88】offdout89】offdout90】offsealing material lackingdout91】offsealing heating not okdout92offsealing gun opendout93】offdout94】offcc-link statusdout95】offcc-link statusdout96】offcc-link statu

47、sdout97】offcc-link statusdout98】offcc-link statusdout99】offcc-link statusdout100】offcc-link statusdout101】offcc-link statusdout102】offdout103】offdout104offjig clamp open requestdout105】offdout106】offpart in stationdout107】offdout108】offdout113】offsealing startdout114】onsealing stopdout115】offdout116】offdout117】offdout118】offdout119】offdout120】offdout121】offdout122】offdout123】offdout124offdout125】offdout126】offdout127】offdout【128】offdout【129】offsparedout【130】offsparedout【131】offclamp_3_ondout【132】onclamp_3_offdout【133】offclamp_2._ondout【134】onclamp一_2_offdout【135】offclamp,_1.