ABB机器人IRC5training-CMProductinfo

1、 ABB University -1 IRC5 Product InformationIRC5 产品介绍 ABB University -2IRC5 OperatorPC Tools 计算机计算机FlexPendant示教器示教器MultiMove协同运动协同运动Controller 控制器控制器IRC5 Robot Controller ABB University -3IRC5 OperatorContentsnThe IRC5 Module Architecture IRC5模块结构nCabinet family 控制柜系列nConfigurations 配置nFacts nIRC5 H

2、ardware IRC5 硬件nSystem architecture 系统结构nFactsnIRC5 Software RobotWare 5.0 ICR5软件: RobotWare 5.0nSystem architecture 系统结构nRelation to S4CPlus RW 4.0 关于S4CPlus RW 4.0 nNews 新产品nSummary 概要 ABB University -4IRC5 OperatorIRC5 Cabinet Family IRC5 控制柜系列控制柜系列 ABB University -5IRC5 OperatorIRC5 Cabinet arch

3、itecture IRC5 控制柜结构控制柜结构nLogical split of functions 合理的功能分配nMinimum dependency between modules 模块间最小依赖性nLocal computer power with local supervision 本地计算机电源的管理nLocal power supply 局部供电nMinimum of cables between modules 模块间最少的连接电缆nStandard communication solutions (Ethernet) 标准的通讯方案 (Ethernet)nMakes it

4、easier to: 更加容易的:nDistribute 分配nSupport different configurations e.g. MultiMove 支持不同的配置 如:多运动nRepackage in new forms 重新包装nReplace/Upgrade modules independent of each other 互相独立的更换/升级模块 ABB University -6IRC5 OperatorIRC5 Functional Architecture IRC5 功能结构功能结构CCell & Safety control 单元&安全控制DMotor ctrl 电

5、机控制PProcess ctrl 过程控制User ctrl 用户控制e.g. Operator 操作者FlexPendant ABB University -7IRC5 OperatorControl Cabinet 控制柜控制柜nCentral control module 核心控制模块nCan host additional cell/ process equipment. Control up to 4 drive modules. 可以额外的增加单元/程序设备.最多可以增加4个驱动模块nHeight 625 mm, footprint 700 * 700 mm 高度 625mm 长X

6、宽=700 x700mm ABB University -8IRC5 OperatorControl Cabinet 控制柜控制柜Customer I/O power supply 用户I/O电源Control panel 控制面板Main switch 主开关Control power supply控制电源Computer unit 计算机单元 ABB University -9IRC5 OperatorDrive Module 驱动柜驱动柜nDrive module 驱动模块nCan control up to 8 or 9 internal axis depending on curre

7、nt requirement.可以独立的控制8或9个外轴nHeight 625 mm, footprint 700 * 700 mm 高度 625mm 长X宽=700 x700mm ABB University -10IRC5 OperatorFlexible Controller 柔性控制器柔性控制器nControl module 控制模块nContains computer unit, safety interface, control panel, space for standard and customer options包括:计算机单元,安全界面,控制面板,标准空间和用户选项nDr

8、ive module 驱动模块nContains drive system, axis computer, transformer, mains connection & filter包括:驱动系统,轴计算机,变压器,主连接&滤波nBuilding block for MultiMove application (up to 4 drive cabinets connected to a single control cabinet)多运动功能块(最多4个驱动单元可以连接到一个控制柜)nHeight 1250 mm, footprint 700 * 700 mm 高度 625mm 长X宽=70

9、0 x700mm ABB University -11IRC5 OperatorCompact Controller 紧凑型控制器紧凑型控制器nAll-in-one cabinet 整体柜nHeight 850 mm, 高:850mm footprint 700 * 700 mm 长x宽=700 x700mmnComputer, drives and safety integrated in same cabinet 将计算机,驱动,安全集成在一个柜里nLess space for options. Mainly for distributed I/O via field bus 可选更小空间

10、.主要是现场总线分布式I/OnCan be used in combination with additional drive cabinets for MultiMove applications 与驱动单元结合,用于多运动功能 ABB University -12IRC5 OperatorProcess cabinet 工艺控制柜工艺控制柜nPurpose 目的nIntegration of application package, e g SpotWeld集成功能块,例如:点焊nInstallation of customer equipment, e g Extra I/O用户设备的安

11、装,例如:外部I/OnHeight 625 mm, 高:625mm footprint 700 * 700 mm 长x宽=700 x700mmnCan be added to both Flexible or Compact Controller versions 可以增加柔性控制器或紧凑型控制器nIntegrated in the same encapsulation family. 完美的包装系列nSame interface layout as in Control Module作为控制模块具有相同的界面布局 ABB University -13IRC5 OperatorRemote O

12、perator Panel 远程操作面板远程操作面板nRemote Panel allow easy access to mode switch and other panel functions close to cell entry 远程面板更容易地访问模式开关和其它的面板功能nIntegrated in the same encapsulation family. 完美的包装系列 FlexPendant 示教器示教器 ABB University -14IRC5 Operator7 Single Robot IRC5 Configurations 7种单个机器人种单个机器人IRC5配置配

13、置DC&PC&D&PDCC&DPPDC&PDCP+ Distributed solutions 分布式的方案DCP 2 times S4Cplus 相当与S4Cplus两倍nOptional hard drive 可选的硬盘n20 GBnHigh temperature specification (+60 C) 最高温度 60 CnShock protection integrated in carrier 防震保护nAuto spin down function in SW to extend lifetime of bearings 自动旋转功能增加了轴承的寿命nCarrier for

14、mass memory unit 大容量存储器单元支架nAllows quick replacement of solid state / hard drive 可以快速的更换固态/硬盘驱动nUSB for connection of external mass memory外部大容量存储器的USB连接 ABB University -21IRC5 OperatorPerformance 性能性能nMain computer 主计算机nIntel Celeron 566 MHz (3 times S4Cplus), upgradeable to 1.2 GHz 处理器:Intel Celero

15、n 566 MHz (S4Cplus的三倍),可升级至1.2GHzn64 MB DRAM (2 times S4Cplus), expandable to 512 MB 内存: 64MB DRAM (S4Cplus的两倍),可扩展到512MBnPath planning of up to 36 axes 可以达到36个轴的控制路径nHandling of 7 simultaneous 10/100 Mbps Ethernet channels 可同时处理7个10/100Mbps Ethernet 通道nPentium-M version available 2004Q4 = even high

16、er performance 版本: Pentium-M version =甚至更高的性能nAxis computer 轴计算机nMotorola PowerPC 250 MHz (6 times S4Cplus) 计算机:Motorola PowerPC 250 MHz (S4Cplus的六倍),nPosition and speed control of up to 9 axesn可达到9个轴的位置和速度控制nPosition measurement of up to 14 axes 可达到14个轴的位置测量nDistributed, networked (Ethernet) for Mu

17、ltiMove applications 用于多运动应用的分布式,网络式的(Ethernet)nPMC (PCI Mezzanine card) slot for connection of 3rd party cards (e g high speed I/O, force control, encoder i/f, control of 3rd party motors) PMC (PCI 卡)插槽用于连接第三个相关卡(例如:高速I/O,动力控制,编码器i/f,第三个电机的控制) ABB University -22IRC5 OperatorField buses 现场总线现场总线nFie

18、ld bus scanners 现场总线扫描nOne channel DeviceNet Master/Slave 一个DeviceNet Master/Slave通道nODVA certified, supports up to 500 kBaud ODVA授权,可以达到500kBaud的支持nTwo channel Profibus DP Master/Slave 两个Profibus DP Master/Slave通道nSupports up to 12 Mbps 可以达到12 Mbps的支持nTwo channel Interbus Master/Slave 两个Interbus Ma

19、ster/Slave通道nBoth copper-wire and fiber-optic interface available 可以使用铜线和光纤nEthernet IP Master/SlavenABB is unique in the possibility to mix field buses of different brands 在各种品牌混合的现场总线方面,ABB是独一无二的 ABB University -23IRC5 OperatorReliability 可靠性可靠性nDrive system 驱动系统驱动系统n6-pack main servo drive 6个伺服驱动

20、包n54 % less connectors, 7% less components, 42 % less PCB:s compared with S4Cplus (IRB 6600, 6 axes)与S4Cplus 比较,减少54%的连接,7%的组件,42%PCBnSingle pack units for additional axes 对于附加轴有单个驱动单元nCarrier for mass memory unit 大容量存储器支架大容量存储器支架nEasy to swap solid state drive / hard drive in computer unit 容易更换计算机里

21、的固态驱动/硬盘驱动nCooling system 冷却系统冷却系统nReduced number of fans: S4Cplus = 9 IRC5 = 7 减少了风扇的数目: S4Cplus = 9 IRC5 = 7nNo fan on main computer CPU 主计算机CPU上没有风扇nDrive system fans are on-off controlled to extend lifetime 驱动风扇是开关控制,延长了寿命nStandard +45 C ambient T, option +52 C 标准的+45 C 周围环境,可选择+52 C nNo air fil

22、ters required 无必须的空气过滤nNon-battery UPS for power failure backup 没有掉电保护UPS电池nUltraCap unit with min. 8 years lifetime = maintenance free (S4Cplus: battery pack with 3 years lifetime)UltraCap单元最少8年的寿命=维修方便(S4Cplus: 电池3年寿命) ABB University -24IRC5 OperatorIRC5 RobotWare 5.0 nReuse S4 architecture 重新利用S4

23、的构造nRAPID based and compatible with S4 RAPID programs RAPID基于和兼容S4程序nEnhanced system configuration features 增强了系统的特性配置nNew communication functionality 新的通讯功能性nMultiMove Support 协同运动支持nMany improvements on all areas 在个方面更多的改进 ABB University -25IRC5 OperatorIRC5 SW Overview IRC5 SW 概观概观Platform isolat

24、ion layer and system architecture独立的平台土层和系统构造Axis Control轴控制Motion Control电机控制RapidSystemResourceManager系统资源管理NetworkCom.Pendant&PCApplications示教&PC应用S4Carry overS4延续Process support 过程支持Win.NetHW Support 硬件支持 ABB University -26IRC5 OperatorRobotWare 5.0 General view 概要概要nBased on RW 4.0 基于RW4.0nPort

25、ed to new hardware platform 通信于一个新的硬件平台nReplace 4.0 features: 替代了4.0特性nCommunication system 通讯系统nTeach Pendant Applications 示教器应用nAxis control subsystem 轴控制子系统nDeviceNet subsystem DeviceNet 子系统nSafety subsystem 安全子系统nAdd and adapt countless of features to support the modular architecture including M

26、ultiMove 增加和改进了很多支持模构造的特性,包括协同运动nAdd support for outstanding network communication capabilities to support RobotStudio, FlexPendant, OPC etc. 增加了支持RobotStudio, FlexPendant, OPC等突出的网络通讯能力, ABB University -27IRC5 OperatorNews in RobotWare 5.0 OS 新闻新闻nRW - Socket Messaging RW-Socket 信息 nRW - Ethernet I

27、P RW 以太网IPnRW - Continuous Application Platform RW 连续应用平台nController Name/Controller ID控制器名称/控制器IDnRobotWare Product Portfolio RobotWare产品端口页码nLoad Identification in RobotWare OS 在RobotWare OS里登录标识nHigh Performance Sensor tracking 高性能的传感器跟踪 nMultiMove System 多运动系统nUser Authorization System 用户授权系统nSy

28、stem Property Browser 系统特性浏览器nUSB Memory USB存储器nDHCP on service port 在服务端口的DHCPnCustomer Error Messages 用户错误信息 ABB University -28IRC5 OperatorRAPID News RAPID-新闻新闻nImproved Support in RW option: File and Serial channel Handling 在RW选项种,改进的支持:文件和串行通道nNew Data types and instructions 新的数据类型和命令nNew monit

29、oring of Persistent variables 新的可变量的监控nSupport for traps on value changes 支持数值改变的中断nExtended support for calibration from RAPID 在RAPID中扩大了校准支持nTool/Frame 工具/框架nAdditional Axes 外加轴nGenerate customized error messages 产生用户定义错误信息产生用户定义错误信息nComplete language support, including Asian characters 全面的语言支持,包括

30、汉语nSynchronized program execution between RAPID tasks 在RAPID任务间,同步程序执行nPossibility to synchronize between Multitasking programs 在RAPID多任务间,同步的可能性nUndo handler 取消管理者取消管理者nCompare to backward handler 比喻为”退步的管理者”nResets data from an ongoing instruction execution, to be able to fast change of program wi

31、thout remaining unwanted effects. 可以从正在执行的命令中重新设定数据, 没有很大的影响下,可以快速的更改程序 ABB University -29IRC5 OperatorCommunication News 通信通信-新闻新闻nNetscan 网络浏览nAutomatic identification of IRC5s connected to the LAN. 自动识别连接IRC5s的局域网nDHCPnEasier and faster connection to the controller 更容易和快速的控制器的连接nSNMPnStandard Sim

32、ple Network Management Protocol 标准的简单的网络管理协议nRobAPInAn common internal communication protocol, used by all networked based applications (e.g. Teach Pendant, Robot Studio, OPC, WebWare, Robot SDK) 通用的内部通讯协议,所有基本的网络应用(如:示教器, Robot Studio, OPC, WebWare, Robot SDK)nNote: RobAPI is not a public protocol 注意: RobAPI不是公用的协议nRW - Socket Messaging Socket信息信息nCreate network communication solution using Rapid 使用Rapid产生网络通讯方案nOPC server OPC服务器服务器nImproved speed and functionality 改进了速度和功能 ABB University -30IRC5 OperatorSystem functions