1、GCCS-1 Global Common Control Software Design,Core Section 8: Robot Concepts 机器人概念,Objectives目标,Describe the interface between robot and the cell controller 机器人和控制器的连接 Describe the use of style numbers between the cell controller and the robot 机器人和控制器的车型选择 Describe the use of option bits between the
2、cell controller and the robot 机器人和控制器的可选位 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 HMIs robot functions screen 描述在HMI机器人屏
3、幕上的选择属性 Describe the features of the function list of the HMIs robot functions screen描述在HMI机器人屏幕上的功能特性 Describe the features of the robot status displays of the HMIs robot functions screen描述在HMI机器人屏幕上的状态特性,Robot Specification 机器人特性,RS1 Robot Technical Specification 机器人技术特性RS1 Out of the box content
4、书本内容之外的 DeviceNet communication for all control signals 所有控制信号的DeviceNet通讯 Ethernet for upload/download support 以太网的上传/下载 RS2 Robot Simulation RS2机器人模拟 RS3 Robot Integration RS3机器人集成 Path segment Tables 路径segment 表 Robot Dress 机器人Dress RS4 Robot Interface (More on RS-4 later in this module) RS4机器人连接
5、 RS5 Robot Programming 机器人编程,RS2 Robot Rules of Process 机器人工艺规则,RS2 sets the outer bounds limits for robot processing. These limitations are critical to the ability to purchase common equipment. 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。 Maximum of 24 Robots per Cell (Gated Area) 一个Cell最多24台机器人 Maximum of 2 proc
6、ess control panels 最多两个工艺控制 Examples: 2 Spot Weld controllers, 1 spot, 1 dispense两个焊接控制器，一个焊接，一个涂胶 Maximum of 2 end effector functions 最多两个终端effector功能 Examples: 2 Weldguns, 1 weldgun & 1 Material handling (MH), 1 Spot & 1 dispence, etc. 两把焊枪，一个焊枪和一个抓料，一个焊接和一个涂胶等。,Robot / Cell Controller Physical In
7、terface 机器人/控制器物理连接,The RS-4 Robot Specification defines the hardware interface and application signals that are transferred between the robot and external devices. RS-4机器人文档定义了机器人和外部设备的硬线连接、应用 Defines Hardwire Interface 定义硬线连接 To Main Control Panel 和主控制柜 Control Reliable Interface 控制可靠连接 Defines Re
8、ceptacle / Cable / Pin-out 定义接口/电缆/指针 To All Auxiliary Panels 和其它附属柜 Process Control Equipment 工艺控制设备 Weld Controllers, Dispense Controllers, etc) 焊接控制器，涂胶控制器等 Dens-Pack (including PedWeld) Defines Receptacle / Cable / Pinout for Power 定义接口/电缆/指针电源,Robot / Cell Controller Physical Interface机器人/控制器物理
9、连接,Defines Application Signals (DeviceNet) 定义应用信号 Dedicated DeviceNet Channel 专用DeviceNet通道 Cell to/from Robot Cell和机器人 Additional DeviceNet Channel(s) 增加的DeviceNet通道 Robot to/from Process Equipment 机器人和工艺设备 Robot to/from Dens-Pack 机器人和Dens-Pack,Path Control Signals 控制信号,Style 车型,Style Numbers (1 to
10、 31) identify different robot paths required by the “style” of the part being operated on. 选择不同的车型号（1到31）决定了机器人的不同路径 Style Number (1 to 25) for Production Paths 车型号（1到25)给生产路径 Style Numbers (26 to 31) for Special / Maintenance Paths 车型（26到31)给特别/维护路径 The robot reads the style once when “Initiate Sty
11、le Program” bit is ON from the controller and it (the style) is then echoed back to controller. 在控制器的“Initiate Style Program” 置位后机器人读取车型。然后再反馈给控制器。,Example: Style Assignment 车型安排,Style Numbers (26 31) for Special/Maintenance Operations车型（26到31)给特别/维护操作,Options 可选,The option bits (A, B, and C) identi
12、fy minor path variations within a given robot style program. 可选位（ A, B, and C）表示在选定车型后的微小变化。 The robot reads options once when “Initiate Style Program” bit is ON from the controller and then it (the robot) echoes the option bits to controller.在控制器的“Initiate Style Program” 置位后机器人读取车型。然后再反馈给控制器。,Path
13、Segments 路径段,The Path Segments numbers (0 to 63) identify the location of a robot along its path within a style program.路径段（0到63）明确了机器人在一个车型路径中的位置 For example: A robot with Path Segment number equal to 1 represents the robot “Moving to Pounce” 若机器人路径段为1是表示机器人“Moving to Pounce” Path Segment numbers s
14、hall be unique within a style program 在一个车型程序内路径段号不可重复 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) 在不同车型程序可有相同的路径段号（举例：路径段号50通常表示“Robot in Process”, 但不同车型程序有不同的工艺路径）
15、,Path Segment Standard Definitions 路径段标准定义,Path segments 10-59 have template definitions. 路径段10-59有模板定义 Most robots shall use these template segment numbers. 大部分机器人用这个模板定义号 Some robots may require re-defining these segments based on the application, for example a pizza rack or stacker robot with mul
16、tiple drop locations. 有些机器人根据需要重定义。例如pizza rack或stacker 机器人有多个drop位置。,Path Segment Template Definitions 路径段模板定义,“Continue” Signals “继续”信号,A “Request to Continue” (RTC) signal is required when the robot needs to handshake with the controller at a specific point in the path. Some of these points may b
17、e:当机器人在一个特定点需要得到控制器确认时需要“Request to Continue” (RTC) 信号 At pounce position always requires RTC 在pounce位置需要RTC Clear to drop / pick No part check / part check 零件检查 Decision code point 定义code点 A path segment number with “Request to Continue” ON identifies a robot at a specific point in its path. “Reque
18、st to Continue” 表示机器人在一个特定点 For example: A robot with path segment number equal to 1 AND with the “Request to Continue” bit On, represents the robot “At Pounce”. 当机器人路径段号为1，同时“Request to Continue” 接通时，表示机器人在“At Pounce”. After the robot turns on the “Request to Continue”, it must wait for the “Contin
19、ue OK” bit from the controller. Once the “Continue OK” bit is on, the robot changes the path segment number and continues. 等机器人发出“Request to Continue”, 还有等待从控制器的“Continue OK” 信号。收到“Continue OK” 信号后，机器人可更改其路径段继续执行。,Sample - Weld Program焊接程序,Seg 1: Pounce,Seg 50: Weld,Request to Continue “At Pounce”,S
20、eg 63: All Clear,Seg 62: Tool Clear “Optional”,“Request to Continue” Not Always Required!,When is the Robot clear of Station? 何时机器人和工装无冲突？,Seg 1: Pounce,Seg 50: Weld,Request to Continue “At Pounce”,Seg 63: All Clear,Seg 62: Tool Clear “Optional”,Clear of Station,Not Clear of Station,Sample Weld Task
21、 OK, Successful Process 焊接任务OK,成功工艺,Seg 50: Weld,Seg 63: All Clear,Seg 62: Tool Clear Optional,Seg 1: Pounce,Request to Continue “At Pounce”,Task OK on,Task OK off,Task OK Verified off at pounce验证关闭,Continue OK Task OK turned on,Initiate Style Task OK, turned off,Sample Weld Task OK, Incomplete Proc
22、ess 焊接任务OK,未完成工艺,Seg 63: All Clear,Seg 62: Tool Clear Optional,Task OK on,Task OK off,Seg 1: Pounce,Seg 50: Weld,Request to Continue “At Pounce”,Task OK Verified off at pounce,Continue OK Task OK turned on,Initiate Style Task OK, turned off,Weld fault Skipped on teach pendant Task OK, turned off,Sam
23、ple Weld with Clamp Reposition焊接带夹头重置,Seg 1: Pounce,Seg 62: Tool Clear Optional,Seg 50: Weld,Request to Continue “At Pounce”,Seg 51: Clear for clamp reposition “Clamp can now open”,Request to Continue “Is the Clamp Open?”,Seg 52: Continue Welding,Seg 63: All Clear,Robot Code Example机器人Code举例,Sample
24、Weld, Pick and Drop 举例焊接、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 Par
25、t 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 路径Decision控制,Decision Code numbers are used when different paths are required within the same robot style program.当同一车型程序中有多个路径
26、时需要Decision Code Typical use: Multiple pick / drop locations for the same style of part 同个车型的多次抓放料 Requires robot to be at a “Request to Continue” point 需要有“Request to Continue” 点 Decision code is read by the robot when “Continue Ok” bit is ON from the controller and is then echoed back to controlle
27、r 当控制器发出“Continue Ok” 后机器人要读Decision code 。然后反馈给控制器。,Robot Clear 机器人清除,When is the robot clear of the drop? 何时机器人可放料,Seg 31: Move clear of drop,Seg 63: All Clear,Request to Continue “Are All Clamps Open?”,Seg 10: Pick & Clear Part Switches,Request to Continue “Are Part Switches OFF?”,Seg 11: Move cl
28、ear of tool,Request to Continue “Is drop ready?”,Seg 30: Drop & Clear Part,Request to Continue “Are Part Switches ON?”,Robot Clear Solution 机器人清除方式,Instead of trying to identify all of the other segment numbers, the logic will check that the robot is NOT in segment 30 or 31. Changes can be made to o
29、ther areas of the path and not affect this clear condition. 不需要 检查其它段号，逻辑只检查30和31.其它区域的变化不会影响这个清除条件Seg30 Seg31 “Clear of Drop” -/-/-( )-,This area is Not Clear of Drop,Process Control Signals 工艺控制信号,Tells Robot there are no parts,Robot stops,Robot continues,Process Control Signals工艺控制信号,These are ge
30、neric signal names; the application defines the meaning. For example Process 1 or 2 Enabled could be: 常用信号名称；定义应用，工艺1或2常用作： For Spot Welding对焊接 weld on / off 开/关 For Dispensing对涂胶 wet / dry) 湿/干 The HMI shows process specific messages (i.e., robot screen, alarms, prompts) 在HMI中显示工艺的相关信息（机器人，报警，提示）,S
31、tatus & Miscellaneous Signals 状态和混合信息,Fast Fault Recovery快速恢复,Fast Fault Recovery (FFR) is enabled at robot when there is a process fault. “Task OK” turns OFF when FFR turns ON.当有工艺故障时可用快速恢复。将“Task OK” 关闭，同时打开FFR Turning on FFR causes the robot to continue without processing the part. For example, i
32、n a spot-welding operation, the weld gun doesnt close but the weld gun backup still operates. 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 In FFR, the robot will stop at an appropriate position to allow repair 在FFR，机器人会停在合适的位置，以便维修 An end of arm welding robot will return home and then go to repair 有
33、焊接的机器人会先回原位再到维修位置 A pedestal welding robot will move clear of the weld gun and stop. 有pedestal焊接机器人会移到和焊枪不干涉位置后停止。,Robot Screen 机器人屏幕,The ROBOTS screen shows the status of all robots in cell and provides maintenance functions for those robots 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,Robot Screen 机器人屏幕,Robot S
34、creen Function List 机器人功能屏幕,Functions for Selected Robots,Exercise 1,Draw a Robot Path Answer Key Follows,Exercise 1 Answer Key,1,10,11,14,15,30,31,50,63,RTC,Dec1,Dec2,RTC,RTC,RTC,RTC,RTC,No Part check,Is Drop ready?,Part check,Are Clamps Closed?,Review,What robot specification covers the interface
35、between the robot and the MCP controller? How are style numbers used between the MCP controller and the robot? How are option bits used between the MCP controller and the robot? What do path segments signal to the controller? What is a “Request to Continue” bit? What sets the “Request to Continue” bit? What is an “OK to Continue” bit? What sets the “OK to Continue” bit? What functions can be selected from the function list of the HMIs robot functions screen? What are the features of the robot status displays of the HMIs robot functions screen?,
