1、GCCS-1Global Common Control Software Design,Core Section 8: Robot Concepts 機(jī)器人概念,Objectives目標(biāo),Describe the interface between robot and the cell controller 機(jī)器人和控制器的連接 Describe the use of style numbers between the cell controller and the robot 機(jī)器人和控制器的車型選擇 Describe the use of option bits between the c

2、ell controller and the robot 機(jī)器人和控制器的可選位 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機(jī)器人屏幕

3、上的選擇屬性 Describe the features of the function list of the HMIs robot functions screen描述在HMI機(jī)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機(jī)器人屏幕上的狀態(tài)特性,Robot Specification 機(jī)器人特性,RS1 Robot Technical Specification 機(jī)器人技術(shù)特性RS1 Out of the box content 書

4、本內(nèi)容之外的 DeviceNet communication for all control signals 所有控制信號(hào)的DeviceNet通訊 Ethernet for upload/download support 以太網(wǎng)的上傳/下載 RS2 Robot Simulation RS2機(jī)器人模擬 RS3 Robot Integration RS3機(jī)器人集成 Path segment Tables 路徑segment 表 Robot Dress 機(jī)器人Dress RS4 Robot Interface (More on RS-4 later in this module) RS4機(jī)器人連接

5、RS5 Robot Programming 機(jī)器人編程,RS2 Robot Rules of Process 機(jī)器人工藝規(guī)則,RS2 sets the outer bounds limits for robot processing. These limitations are critical to the ability to purchase common equipment. RS2設(shè)置機(jī)器人工藝的外部規(guī)定。對(duì)采購(gòu)共用設(shè)備有嚴(yán)格規(guī)定。 Maximum of 24 Robots per Cell (Gated Area) 一個(gè)Cell最多24臺(tái)機(jī)器人 Maximum of 2 proce

6、ss control panels 最多兩個(gè)工藝控制 Examples: 2 Spot Weld controllers, 1 spot, 1 dispense兩個(gè)焊接控制器，一個(gè)焊接，一個(gè)涂膠 Maximum of 2 end effector functions 最多兩個(gè)終端effector功能 Examples: 2 Weldguns, 1 weldgun the application defines the meaning. For example Process 1 or 2 Enabled could be: 常用信號(hào)名稱；定義應(yīng)用，工藝1或2常用作： For Spot Weld

7、ing對(duì)焊接 weld on / off 開/關(guān) For Dispensing對(duì)涂膠 wet / dry) 濕/干 The HMI shows process specific messages (i.e., robot screen, alarms, prompts) 在HMI中顯示工藝的相關(guān)信息（機(jī)器人，報(bào)警，提示）,Status & Miscellaneous Signals 狀態(tài)和混合信息,Fast Fault Recovery快速恢復(fù),Fast Fault Recovery (FFR) is enabled at robot when there is a process fault

8、. “Task OK” turns OFF when FFR turns ON.當(dāng)有工藝故障時(shí)可用快速恢復(fù)。將“Task OK” 關(guān)閉，同時(shí)打開FFR Turning on FFR causes the robot to continue without processing the part. For example, in a spot-welding operation, the weld gun doesnt close but the weld gun backup still operates. 打開FFR導(dǎo)致機(jī)器人繼續(xù)但不操作。例如在焊接操作時(shí)，焊槍不關(guān)閉但焊槍backup繼續(xù)動(dòng)

9、作 In FFR, the robot will stop at an appropriate position to allow repair 在FFR，機(jī)器人會(huì)停在合適的位置，以便維修 An end of arm welding robot will return home and then go to repair 有焊接的機(jī)器人會(huì)先回原位再到維修位置 A pedestal welding robot will move clear of the weld gun and stop. 有pedestal焊接機(jī)器人會(huì)移到和焊槍不干涉位置后停止。,Robot Screen 機(jī)器人屏幕,The

10、 ROBOTS screen shows the status of all robots in cell and provides maintenance functions for those robots 機(jī)器人屏幕顯示所有CELL內(nèi)機(jī)器人狀態(tài)和針對(duì)機(jī)器人的維護(hù)功能,Robot Screen 機(jī)器人屏幕,Robot Screen Function List 機(jī)器人功能屏幕,Functions for Selected Robots,Exercise 1,Draw a Robot Path Answer Key Follows,Exercise 1 Answer Key,1,10,11,1

11、4,15,30,31,50,63,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 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 Continu