教程德国kuka机器人

1、Anti-collision with more than one robotInterlock options for robots with a shared workspace:1.) Direct communication between the robot controllers2.) Indirect communication between the robot controllers3.) Priority-controlled anti-collision measures via PLCSpot welding in the automotive industryDire

2、ct communication between the robot controllersCommunication is carried out via a direct I/O link between the robot controllersShared workspaceDirect communication between the robot controllersCommunication is carried out via a direct I/O link between the robot controllersExample: Interlock without P

3、LC (1)Rob 1Rob 2O171I171I171O171True “1”False “0”Example: Interlock without PLC (2)Rob 1Rob 2True “1”False “0”O171I171I171O171Example: Interlock without PLC (3)Rob 1Rob 2True “1”False “0”O171I171I171O171Example: Interlock without PLC (4)Rob 1Rob 2True “1”False “0”O171I171I171O171Example: Interlock w

4、ithout PLC (5)Rob 1Rob 2True “1”False “0”O171I171I171O171Direct communication between the robot controllersCommunication is carried out via a direct I/O link between the robot controllers, e.g. via CAN busWith monitoring time:The monitoring time is programmed in the robot program. It starts once a r

5、obot has been granted permission to enter the workspace. The robot waits until the time has elapsed. Once the time has elapsed, the robot checks once again the permission to enter the workspace. If it is still valid, the robot enters the shared workspace, otherwise the robot must remain stationary.

6、Depending on the program, the robot may now attempt to acquire permission again.Direct communication between the robot controllersCommunication is carried out via a direct I/O link between the robot controllers, e.g. via CAN busWith monitoring time:Advantages: Short communication time (longer than w

7、ithout monitoring time)No PLC programmer requiredDisadvantages:If two robots request permission to enter the workspace simultaneously, this results in a deadlockI/O communication required between PLC and robot and between all robots with a shared workspaceDirect communication between the robot contr

8、ollersCommunication is carried out via a direct I/O link between the robot controllers, e.g. via CAN busWithout monitoring time:Advantages: Short communication timeNo PLC programmer requiredDisadvantages:If two robots request permission to enter the workspace simultaneously, this results in a CRASHI

9、/O communication required between PLC and robot and between all robots with a shared workspaceIndirect communication between the robot controllersCommunication is routed via and/or controlled by a PLCPLCExample: Interlock with PLC (1)Rob 1Rob 2O171I171I171O171True “1”False “0”PLCExample: Interlock w

10、ith PLC (2)Rob 1Rob 2True “1”False “0”O171I171I171O171PLCExample: Interlock with PLC (3)Rob 1Rob 2True “1”False “0”O171I171I171O171PLCExample: Interlock with PLC (4)Rob 1Rob 2True “1”False “0”O171I171I171O171PLCExample: Interlock with PLC (5)Rob 1Rob 2True “1”False “0”O171I171I171O171PLCIndirect com

11、munication between the robot controllersSignals are routed via the PLC without logic, i.e. no direct I/O link between the robot controllersWith monitoring time:Advantages: I/O communication only between the PLC and the robot in questionIf standardized signals are used, no PLC programmer is requiredD

12、isadvantages:High probability of robot deadlock if the monitoring time setting is too greatHigh probability of robot CRASH if the monitoring time setting is too lowLong communication time due to monitoring timeIndirect communication between the robot controllersSignals are routed via the PLC without

13、 logic, i.e. no direct I/O link between the robot controllersWithout monitoring time:Advantages: I/O communication only between the PLC and the robot in questionIf standardized signals are used, no PLC programmer is requiredDisadvantages:High risk of CRASH because of increased signal length due to P

14、LC scan (program sequence)Priority-controlled anti-collision measures via PLCI/O communication only between PLC and robot. The signals are linked by means of logic operations in the PLC. Which robot has priority in the event of several robots simultaneously requesting permission to enter the workspa

15、ce is defined by means of the logic in the PLC program.Permission requested Permission grantedAdvantages: I/O communication only between PLC and the robot in questionRobots do not crash or cause a deadlockDisadvantages:The programming requires a PLC programmer and a robot programmerCommunication tim

16、e = 1 PLC scan plus robot reaction timePriority-controlled anti-collision measures via PLCI/O communication only between PLC and robot. The signals are linked by means of logic operations in the PLC. Which robot has priority in the event of several robots simultaneously requesting permission to enter the workspace is defined by means of the logic in the PLC program.Permission requested Permission granted + “In Space” signalAdvantages: I/O communication only between PLC and the robot in questionRobots do not crash or cause a deadlockThe “In Space” signal provides the add