Global Common Control Software Design(机器人概念)

GCCS-1GlobalCommonControlSoftwareDesignCoreSection8:RobotConcepts机器人概念Objectives目标•Describetheinterfacebetweenrobotandthecellcontroller机器人和控制器的连接•Describetheuseofstylenumbersbetweenthecellcontrollerandtherobot机器人和控制器的车型选择•Describetheuseofoptionbitsbetweenthecellcontrollerandtherobot机器人和控制器的可选位•Describetheuseof“pathsegments.”使用“pathsegments.”•describetheuseof“RequesttoContinue”and“OKtoContinue”bits使用“RequesttoContinue”和“OKtoContinue”•DescribethefeaturesoftheselectioncursoroftheHMI’srobotfunctionsscreen描述在HMI机器人屏幕上的选择属性•DescribethefeaturesofthefunctionlistoftheHMI’srobotfunctionsscreen描述在HMI机器人屏幕上的功能特性•DescribethefeaturesoftherobotstatusdisplaysoftheHMI’srobotfunctionsscreen描述在HMI机器人屏幕上的状态特性RobotSpecification机器人特性•RS1RobotTechnicalSpecification机器人技术特性RS1•Outoftheboxcontent书本内容之外的•DeviceNetcommunicationforallcontrolsignals所有控制信号的DeviceNet通讯•Ethernetforupload/downloadsupport以太网的上传/下载•RS2RobotSimulationRS2机器人模拟•RS3RobotIntegrationRS3机器人集成•PathsegmentTables路径segment表•RobotDress机器人Dress•RS4RobotInterface(MoreonRS-4laterinthismodule)RS4机器人连接•RS5RobotProgramming机器人编程RS2–RobotRulesofProcess机器人工艺规则RS2setstheouterboundslimitsforrobotprocessing.Theselimitationsarecriticaltotheabilitytopurchasecommonequipment.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。•Maximumof24RobotsperCell(GatedArea)一个Cell最多24台机器人•Maximumof2processcontrolpanels最多两个工艺控制•Examples:2SpotWeldcontrollers,1spot,1dispense两个焊接控制器，一个焊接，一个涂胶•Maximumof2endeffectorfunctions最多两个终端effector功能•Examples:2Weldguns,1weldgun&1Materialhandling(MH),1Spot&1dispence,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/CellControllerPhysicalInterface机器人/控制器物理连接TheRS-4RobotSpecificationdefinesthehardwareinterfaceandapplicationsignalsthataretransferredbetweentherobotandexternaldevices.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•DefinesHardwireInterface定义硬线连接•ToMainControlPanel和主控制柜–ControlReliableInterface控制可靠连接–DefinesReceptacle/Cable/Pin-out定义接口/电缆/指针•ToAllAuxiliaryPanels和其它附属柜–ProcessControlEquipment工艺控制设备–WeldControllers,DispenseControllers,etc…)焊接控制器，涂胶控制器等–Dens-Pack(includingPedWeld)–DefinesReceptacle/Cable/PinoutforPower定义接口/电缆/指针电源Robot/CellControllerPhysicalInterface机器人/控制器物理连接•DefinesApplicationSignals(DeviceNet)定义应用信号•DedicatedDeviceNetChannel专用DeviceNet通道•Cellto/fromRobotCell和机器人•AdditionalDeviceNetChannel(s)增加的DeviceNet通道•Robotto/fromProcessEquipment机器人和工艺设备•Robotto/fromDens-Pack机器人和Dens-PackPathControlSignals控制信号ControllertoRobotRobottoControllerStyleNumber车型号1–31StyleNumberEcho1–31OptionBits可选位A,B,COptionBitsEchoA,B,CInitiateStyle初始车型ManualStyleRequest手动车型请求DecisionCode定义号0–15DecisionCodeEcho0–15CleartoEnterZone清除可进入区域1–6ClearZone1–6OKtoContinue可继续RequesttoContinue请求继续PathSegment路径0–63InCycleTaskOKStyle车型•StyleNumbers(1to31)identifydifferentrobotpathsrequiredbythe“style”ofthepartbeingoperatedon.选择不同的车型号（1到31）决定了机器人的不同路径–StyleNumber(1to25)forProductionPaths车型号（1到25)给生产路径–StyleNumbers(26to31)forSpecial/MaintenancePaths车型（26到31)给特别/维护路径•Therobotreadsthestyleoncewhen“InitiateStyleProgram”bitisONfromthecontrollerandit(thestyle)isthenechoedbacktocontroller.在控制器的“InitiateStyleProgram”置位后机器人读取车型。然后再反馈给控制器。Example:StyleAssignment车型安排Style#UsageGMT360Example12345CommonCommonDivision#1Division#2Division#3Division#4CommonChevyGMCOldsSpare678910Platform#1CommonDivision#1Division#2Division#3Division#4GMT360GMT360ChevyGMT360GMCGMT360OldsGMT360Spare1112131415PlatformCommonDivision#1Division#2Division#3Division#4GMT370GMT370ChevyGMT370GMCGMT370OldsGMT370Spare16-20PlatformSame21-25PlatformSameStyleNumbers(26–31)forSpecial/MaintenanceOperations车型（26到31)给特别/维护操作Style#UsageGMT360Example26SpareSpare27CapChangeCapChange28TipAlignTipAlign29Process1TipMaintenancePurgeorTipDress30Process2TipMaintenancePurgeorTipDress31RepairRepairOptions可选•Theoptionbits(A,B,andC)identifyminorpathvariationswithinagivenrobotstyleprogram.可选位（A,B,andC）表示在选定车型后的微小变化。•Therobotreadsoptionsoncewhen“InitiateStyleProgram”bitisONfromthecontrollerandthenit(therobot)echoestheoptionbitstocontroller.在控制器的“InitiateStyleProgram”置位后机器人读取车型。然后再反馈给控制器。PathSegments路径段•ThePathSegmentsnumbers(0to63)identifythelocationofarobotalongitspathwithinastyleprogram.路径段（0到63）明确了机器人在一个车型路径中的位置–Forexample:ArobotwithPathSegmentnumberequalto1representstherobot“MovingtoPounce”若机器人路径段为1是表示机器人“MovingtoPounce”–PathSegmentnumbersshallbeuniquewithinastyleprogram在一个车型程序内路径段号不可重复–PathSegmentnumbersarereusedbetweenstyleprograms(forexample:Pathsegment50isalways“RobotinProcess”,butdifferentstyleprogramswillhavedifferentprocesspaths)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“RobotinProcess”,但不同车型程序有不同的工艺路径）PathSegmentStandardDefinitions路径段标准定义Segment#Usage0Unknown/Invalidsegment未知/不可用1Pouncesegment23HometoRepairsegmentRepairtoHomesegment4Process1TipDress/Purgesegment5Process2TipDress/Purgesegment6CapChangesegment电极帽更换789Reserved保留10–59Templatesegments模板6061Reserved62ToolClearsegment(Optional)工位清除63AllClearsegment所有清除•Pathsegments10-59havetemplatedefinitions.路径段10-59有模板定义•Mostrobotsshallusethesetemplatesegmentnumbers.大部分机器人用这个模板定义号•Somerobotsmayrequirere-definingthesesegmentsbasedontheapplication,forexampleapiz