ABB机器人控制器概述课件

Click to edit Master title style,Click to edit Master text styles,Second level,Third level,Fourth level,Fifth level,ATMA -,41,机器人控制器概述,ROBOT CONTROLLER,控制系统,-,控制柜,扩展型,紧凑型,控制柜概述,1.,控制柜门,2.,主电源开关,3.LED,指示板,4.,控制面板,5.,时间计数器,6.,服务接口,(,可选,),7.,示教器连接口,8.,示教器悬挂架,9.,示教器电缆悬挂架,10.,开门手柄,扩展型,紧凑型,控制柜,-,内部板标识,AC1:,柜门,AC2:,柜的后壁和可选的,Harting,连接板,AC3:,底板,AC4:,转动单元,AC5:,右侧壁（正视图）,AC6:,左侧壁（正视图）,AC7:,顶板,控制柜的后壁、侧壁和旋转单元等处，,有不同的元件、连接器和接线端子板。,(Covers removed),控制柜概述,控制柜元件位置,-,扩展型控制柜,控制柜元件位置,-,紧凑型控制柜,S4P+,喷涂,控制系统构成,构成,:,计算机模块,轴驱动单元模块,机箱控制模块,分布式输入,/,输出,&,通讯模块,机械手模块,电源模块,控制系统,计算机模块,计算机底板,主计算机,轴计算机,输入,/,输出计算机,存储器,计算机底板,闪盘,轴计算机,输入,/,输出计算机,主计算机,主计算机板指示灯状态,说明 查错,/,故障源,绿色,LED,电源,当板上通电时,亮绿色,.,不亮则检查电源,电缆和连接器,.,黄色,LED,硬盘,当,IDE,总线有数据传送给硬盘时,黄灯闪烁,.,红,/,绿,LED,状态,LED,显示计算机在启动和运行时的状态,.,在启动期间状态,LED,1,电源给电,闪烁红色,.,2,主引导装载,固定红色,3,应用程序启动,闪烁绿色,4,运行中,固定绿色,当检测错误时,LED,的状态 原因,保持闪烁红色 通电自检,(POST),错误,严重的硬件,(SBC),错误,保持固定红色 硬盘驱动器访问错误,保持闪烁绿色,SBC,以外的硬件错误,应用软件被破坏,保持固定绿色 系统运行中,计算机模块,-,主计算机板,DSQC500/540,控制系统,驱动单元模块,驱动单元模块可包含,1,个或,2,个伺服驱动系统。第一个系统称作,“,主伺服驱动系统,”,，用来控制机械手的轴和可能在轨道上使用的台车。可选配的第二个系统，称作,“,辅助伺服驱动系统,”,，可用来操纵机械手内的,(,或者在外部控制柜中的,),涂料泵，或者可用来控制,CBS (Cartridge Bell System),系统。,驱动单元由轴计算机板、整流器、驱动单元以及串行测量单元等组成,。,警告！,在运行当中，驱动单元内有危险电压,(370VDC,）。,即使在电源切断的情况下，该危险电压也存在于整流器板上，并因此贯穿驱动单元。在机器人的制动器断开情况之下，如果手动移动机器人手臂，则在驱动单元内就会产生危险电压,即使是在断电的时候也如此,.,驱动系统构成,:,整流器单元,DSQC 345,马达驱动单元,DSQC 346,驱动单元接线板,CBG,伺服驱动接口单元,ASDI,伺服驱动接口板,SDI,伺服驱动接线板,SDC,整流器,VCP,串行测量单元,SMU,测量系统接线板,CBC,串行测量单元,DSQC 562(SMB),控制系统,驱动单元模块,驱动单元模块,-,整流器单元,DSQC 345,输入电压：,DC2,DC2/T 260VAC,DC3 430VAC,输出电压：,DC2,DC2/T 370VDC,DC3,390VDC,驱动单元模块,-,电机,驱动单元,DSQC 346,规格,温度范围：,0-70,最高散热温度：,90,额定直流电压：,340V,最高直流电压：,380V,最高电源电压：,180V,所需的相电感：,2mH,整流交换频率：,5kHz,驱动单元模块,-,伺服驱动接口单元,ASDI,ASDI,单元是驱动系统单元的控制器，控制泵和,CBS,系统。,这个单元由伺服驱动接口板,SDI,和伺服驱动连接,器板,SDC,组成,.,驱动单元模块,-,串行测量单元,SMU,串行测量单元测量所有的电机位置，并将其反馈给轴计算机。,马达的位置是通过安装在每台马达上面的解码器来测量的。,串行测量单元,SMU,用在机械手的轴和,CBS,处理器上面。,控制系统,机箱控制模块,机箱控制模块（Cabinet Control Module）由带有计算机板ACPX的机箱控制板ACCB和安装在该控制板上的风扇监视板FFB组成。,模块定位在控制柜的背板上。,机箱控制模块,-,机箱控制板,ACCB,ACCB控制板是一个多功能,控制板,功能,:,各种CAN通道的分配。CAN 1.1用于外部通讯，而CAN 1.2用于机械手通讯。CAN 1和CAN 2都源自I / O计算机,.,喷漆过程和通用目的的数,字,和模拟输入 / 输出。,信号通路。示教器通讯、串行I / O、到I / O和轴计算机的状态信号、串行测量装置、串行通讯、传动系统串行通讯以及ALED通讯都要通过ACCB控制板。 基本的、与安全相关的开关和继电器的自动监视。使用安全电路的双电路布局来检查安全信号差异。当出现电路差异情况时，必须确定故障条件，并要重现这样的故障条件，以使得以后能够启动自动监视信号,。,机箱控制模块,-,机箱控制板,ACCB,ACCB控制板是一个多功能,控制板,功能,:,启动电路。对来自机器人控制系统的所有与安全相关的功能的状态信号进行求和。,吹扫系统监视器。由ACCB控制板监视AEXB控制板上的,“,Purge（吹扫）,”,控制器。,编码器输入。ACCB控制板包含两个编码器输入，这些输入可以用于,“,conveyor tracking（输送跟踪）,”,。,冷却风扇监视。不同的冷却风扇具有不同的、可由ACCB控制板读取的旋转速度。当风扇旋转速度低于1000 rpm时，将产生一个故障状态信号。,AEXB控制板和ALED控制板之间的串行通讯。,控制系统,机械手模块,(AMCM),串行测量板,轴制动与电机温度检测,喷涂系统的涂料及,空气的模拟控制,喷涂机阀门的开,/,关,喷涂机的清洗、换色,组成,:,机械手控制板,MCOB-02,连接板,MCCB,CBS,传感器接口板,MCCC,控制系统,继电器单元和外部接口单元,组成,: ACRB,控制板, AEXB,板,ZB,板,控制系统,继电器单元,ACRB,用于控制系统中与各继电器有关的功能,The ACRB unit serves as a central point for various functions in the control system such,as emergency stop chain and run chain with associated relays and also to streamline,wiring to reduce cable branching etc.,控制系统,外部接口单元,AEXB,AEXB,单元是一个多功能单元,它包括以下功能,:,对示教器上的使能装置,和急停功能的电缆监测,.,吹扫接口和监测,.,防爆,I/O,接口,.,安全监测和控制,.,CAN,终端,.,串行测量信号的通道,The AEXB unit is a multiple function unit and includes following main functions., Cable monitoring for the enabling device and emergency stop functions located in the teach pendant unit. Fail safe control electronics for,Exi,safety signal for relay drive into the safety chain., Purge interface and monitoring. The purge control unit is for safety reasons,implemented in two channels. Channel one is implemented in control electronics. Channel two is implemented in software located in the AEXB Single Chip Micro Controller. The AEXB Single Chip Micro Controller is monitored from the ACCB CPU and Micro Controller.,Exi,- I/O interface.,Exi,equipment is connected to,zener,barriers and routed to inputs to the AEXB Single Chip Micro Controller., Safety monitoring and control. All safety circuits are implemented in two channels hardware and monitored from software and control electronic., CAN termination. CAN communication to the manipulator is routed through the,AEXB unit purge relays., Routing of serial measurement signals. The RS422 signal to the serial measurement system located in the manipulator is routed through the AEXB unit purge relays. The measurement system communication line is also galvanic isolated through,opto,couplers,控制系统,齐纳阻挡单元,ZB,齐纳阻挡单元,齐纳阻挡单元,I/O,配线,齐纳阻挡单元是一个电路,它对输出电压和电流设置极限值,.,这意味着在危险区内,短路等情况下,短路火花将由齐纳阻挡单元限制,使其不能产生足够的能量使危险气体点火,.,12VDC,18VDC,Zener,Barrier,A,zener,barrier is a circuit which sets a limit for voltage and current of the output. This means that in a case of short circuit etc. in the hazardous area, the spark produced will be,limited by the,zener,barrier and not able to produce sufficient energy to cause ignition of hazardous gases.,控制系统,Misc.,系统指示灯板,ALED,原理图,控制系统,分布式输入,/,输出,&,通讯模块,标准连接,可选连接,Standard Digital I/O,The system provides connections for 16 digital inputs and 16 digital outputs for general purpose connections.,Standard Process I/O,The standard process I/O connections are used when paint control systems are connected in the control cabinet. The process I/O connections also provide connections for conveyor encoder and conveyor sync switch.,Ethernet Communication,The control system includes Ethernet connection as standard. This communication can be used to connect a PC to the robot control cabinet. The Ethernet communication can be used to download programs made on a PC to the robot, download configuration files to the robot, make back-up of robot programs and configurations, etc. For more information on the Ethernet connection, see Ethernet Communication on page 591.,CAN Bus Communication,The system includes 2 CAN bus connections as standard. One of these CAN buses can be used for connection of distributed I/O units and/or field bus units, and the other CAN bus can be used for controlling the robot from a plant computer when e.g. more robots are working in a cell, or to add extra length to the CAN bus controlled by the robot. For more information on the CAN bus, see CAN Bus Description on page 506.,分布式输入,/,输出,&,通讯模块,CAN bus,布线,分布式输入,/,输出,&,通讯模块,DEVICENET,地址,分布式输入,/,输出,&,通讯模块,输入,/,输出板,分布式输入,/,输出,&,通讯模块,输入,/,输出板,控制系统,电源模块,电源单元，转动单元的后视图,电源模块,-,工艺电源,DSQC506,工艺电源为,AC/DC,电源,供给,:,驱动系统,输入,/,输出单元,示教器,面板,串行测量板,制动器,风扇,冷却设备,规格,:,电源输入,:,单相,230VAC/50/60Hz,最大电流,8.7A,电池输入,:14.5V,21.6V,电源输出,:+24V SYS,3.5A,+24V I/0,9.0A,+24V BRAKE,7.0A,+24V COOL,7.0A,+24V CPU 4.5A,+15V CPU 2.0A,-15V CPU 0.5A,信号输出,:BATON-N,ACOK,DCOK,通讯接口,:,SMBus,系统管理总线协议,MC,监测所有直流输出的状态,电源模块,-,计算机电源,DSQC505,计算机电源为,DC/DC,电源,供给,:,计算机系统,规格,:,电源输入,: 24VDC,最大,4.5A,电源输出,: +3.3V CPU 3-9A,+5V CPU 8-12A,+12V CPU 1A,-12V CPU 0.5A,输出功率,: 80W,。,通讯接口,:,SMBus,系统管理总线协议,电源模块,-,电池单元,DSQC508,功能,:,系统停电或断电时为系统备份提供电能,.,停电,00.8s,17A,电流,;0.820s,8A,电流,.,规格,:,电源输入,:+24VDC,电源输出,:,交流电源中断时,21.6V(,额定值,)(,最低,16V),信号输出,:,来自,DSQC506,的,BATON-N,通讯,/,监控,:,SMBus,协议,.,主计算机对电池的能量级别,充电状态,电池单元的功能及电池的老化情况进行监测,注意,:,电池单元不可拆卸,!,电源模块,-,电池充电单元,BCU,功能,:,供防爆机器人为电池充电所用,该电池在,机器人断电后为测量板供电,.,规格,:,输入电压,:+24VDC (20V28V),输出电压,:6.5V DC,充电电流,:205mA (180-215mA),输出电流,:2mA,电源模块,-,测量系统电池,功能,:,为测量系统断电时供电,(,电池电压,6.6V),(,测量系统的控制板可在电池,100%,充电的条件下运行,1000,小时,),规格,:,电池类型,:,可充电,NiCd,额定电压,: 7.2V,电源模块,-,电源变压器,功能,:,3,相,3.7kVA,变压器,为控制系统的直流电源提供交流电源,为马达驱动单元的整流器提供交流电源,为泵或,CBS,的整流器提供交流电源,为外部提供,115V,或,230V,交流输出,