目 錄
前言
第1 章　ABB 工業(yè)機(jī)器人IRC5 控制柜及安全控制回路 .......................................................................1
1.1　ABB 工業(yè)機(jī)器人IRC5 控制柜的組成及作用 ............................................................................................1
1.1.1　主計(jì)算機(jī)單元 ..........................................................................................................................................1
1.1.2　軸計(jì)算機(jī)板 ..............................................................................................................................................2
1.1.3　機(jī)器人六軸的驅(qū)動(dòng)單元 ..........................................................................................................................2
1.1.4　示教器和控制柜操作面板 ......................................................................................................................3
1.1.5　串口測(cè)量板 ..............................................................................................................................................3
1.1.6　系統(tǒng)電源模塊 ..........................................................................................................................................4
1.1.7　電源分配板 ..............................................................................................................................................4
1.1.8　電容單元 ..................................................................................................................................................5
1.1.9　接觸器板 ..................................................................................................................................................5
1.1.10　安全板 ....................................................................................................................................................5
1.1.11　控制柜變壓器 ........................................................................................................................................6
1.1.12　泄流電阻 ................................................................................................................................................6
1.1.13　用戶供電模塊 ........................................................................................................................................6
1.1.14　I/O 單元模塊 .........................................................................................................................................6
1.1.15　控制柜整體連接圖 ................................................................................................................................7
1.2　ABB 工業(yè)機(jī)器人安全控制回路 ...................................................................................................................8
1.2.1　ABB 工業(yè)機(jī)器人標(biāo)準(zhǔn)型控制柜急�？刂苹芈�.....................................................................................8
1.2.2　ABB 工業(yè)機(jī)器人標(biāo)準(zhǔn)型控制柜自動(dòng)停止、常規(guī)停止、上級(jí)停止控制回路................................... 11
1.2.3　ABB 工業(yè)機(jī)器人緊湊型控制柜的急�；芈�.......................................................................................13
1.2.4　ABB 工業(yè)機(jī)器人緊湊型控制柜的安全回路.......................................................................................15
第2 章　ABB 工業(yè)機(jī)器人與PLC 的通信 ...................................................................................................17
2.1　ABB 工業(yè)機(jī)器人與西門子PLC 的PROFIBUS 通信 ...............................................................................17
2.1.1　ABB 工業(yè)機(jī)器人PROFIBUS 配置 .....................................................................................................19
2.1.2　創(chuàng)建PROFIBUS 的I/O 信號(hào) ...............................................................................................................24
2.1.3　PLC 配置 ...............................................................................................................................................27
2.1.4　系統(tǒng)輸入輸出與I/O 信號(hào)的關(guān)聯(lián) ........................................................................................................34
2.1.5　PLC 編程 ...............................................................................................................................................37
2.2　ABB 工業(yè)機(jī)器人與西門子PLC 的PROFINET 通信 ...............................................................................38
2.2.1　ABB 工業(yè)機(jī)器人通過DSQC688 模塊與PLC 進(jìn)行PROFINET 通信 .............................................40
2.2.1.1　ABB 工業(yè)機(jī)器人通過DSQC688 進(jìn)行PROFINET 通信的配置 .................................................40
2.2.1.2　創(chuàng)建PROFINET 的I/O 信號(hào) .........................................................................................................44
2.2.1.3　PLC 配置 .........................................................................................................................................46
2.2.1.4　建立PLC 與ABB 工業(yè)機(jī)器人PROFINET 通信 .........................................................................53
2.2.2　ABB 工業(yè)機(jī)器人通過WAN 和LAN3 網(wǎng)口進(jìn)行PROFINET 通信 ..................................................54
2.2.2.1　ABB 工業(yè)機(jī)器人通過WAN 和LAN3 網(wǎng)口進(jìn)行PROFINET 通信的配置 ................................54
2.2.2.2　創(chuàng)建PROFINET 的I/O 信號(hào) .........................................................................................................59
2.2.2.3　PLC 配置 .........................................................................................................................................61
2.2.2.4　設(shè)置ABB 工業(yè)機(jī)器人通信輸入/ 輸出信號(hào) ................................................................................66
2.2.2.5　建立PLC 與ABB 工業(yè)機(jī)器人PROFINET 通信 .........................................................................66
2.3　ABB 工業(yè)機(jī)器人與三菱Q 系列PLC 的CCLink 通信 ............................................................................67
2.3.1　DSQC378B 模塊 ...................................................................................................................................67
2.3.2　三菱PLC 設(shè)置 ......................................................................................................................................68
2.3.3　PLC 編程 ...............................................................................................................................................69
2.3.4　ABB 工業(yè)機(jī)器人設(shè)置...........................................................................................................................73
2.4　ABB 工業(yè)機(jī)器人EtherNet/IP 通信配置 ....................................................................................................80
2.4.1　ABB 工業(yè)機(jī)器人841-1 EtherNet/IP Scanner/Adapter 選項(xiàng)的應(yīng)用 ...................................................80
2.4.2　ABB 工業(yè)機(jī)器人840-1 EtherNet/IP Anybus Adapter 選項(xiàng)的應(yīng)用 ....................................................84
2.5　Socket 通信 ..................................................................................................................................................88
2.5.1　Socket 通信設(shè)置 ....................................................................................................................................88
2.5.2　創(chuàng)建Socket 通信 ...................................................................................................................................90
2.5.3　Socket 通信應(yīng)用示例 ............................................................................................................................92
第3 章　FANUC 工業(yè)機(jī)器人控制柜及安全控制回路 ...........................................................................94
3.1　FANUC 工業(yè)機(jī)器人控制柜的組成及作用 ................................................................................................94
3.1.1　FANUC 工業(yè)機(jī)器人控制柜的主板......................................................................................................97
3.1.2　主板電池 ................................................................................................................................................98
3.1.3　FANUC 輸入輸出印制電路板..............................................................................................................98
3.1.4　電源供給單元 ........................................................................................................................................99
3.1.5　示教器 ..................................................................................................................................................100
3.1.6　伺服放大器 ..........................................................................................................................................101
3.1.7　操作面板 ..............................................................................................................................................102
3.1.8　變壓器 ..................................................................................................................................................102
3.1.9　風(fēng)扇單元和熱交換器 ..........................................................................................................................102
3.1.10　斷路器 ................................................................................................................................................102
3.1.11　再生電阻 ............................................................................................................................................102
3.2　FANUC 工業(yè)機(jī)器人安全控制回路 ..........................................................................................................103
3.3　緊急停止單元 .............................................................................................................................................111
第4 章　FANUC 工業(yè)機(jī)器人與PLC 的通信 .......................................................................................... 117
4.1　FANUC 工業(yè)機(jī)器人與西門子PLC 的PROFIBUS 通信 ........................................................................ 117
4.1.1　FANUC 工業(yè)機(jī)器人PROFIBUS 配置 .............................................................................................. 117
4.1.2　創(chuàng)建PROFIBUS 的I/O 信號(hào) ............................................................................................................. 118
4.1.3　PLC 配置 ............................................................................................................................................. 119
4.2　FANUC 工業(yè)機(jī)器人與西門子PLC 的PROFINET 通信 ........................................................................125
4.2.1　FANUC 工業(yè)機(jī)器人的配置................................................................................................................125
4.2.2　創(chuàng)建PROFINET 的I/O 信號(hào) .............................................................................................................127
4.2.3　PLC 配置 .............................................................................................................................................128
4.3　FANUC 工業(yè)機(jī)器人與三菱PLC 的CCLink 通信 ..................................................................................134
4.3.1　FANUC 工業(yè)機(jī)器人CCLink 配置 .....................................................................................................135
4.3.2　創(chuàng)建CCLink 的I/O 信號(hào)....................................................................................................................136
4.3.3　三菱PLC 的CCLink 設(shè)置..................................................................................................................136
4.4　FANUC 工業(yè)機(jī)器人與歐姆龍PLC 的EtherNet/IP 通信 ........................................................................136
4.4.1　FANUC 工業(yè)機(jī)器人的EtherNet/IP 配置 ..........................................................................................137
4.4.2　創(chuàng)建EtherNet/IP 的I/O 信號(hào) .............................................................................................................138
4.4.3　PLC 的設(shè)置 .........................................................................................................................................140
4.5　系統(tǒng)外圍設(shè)備信號(hào)UI/UO ........................................................................................................................150
4.6　程序啟動(dòng)條件及時(shí)序 ................................................................................................................................151
4.6.1　機(jī)器人服務(wù)請(qǐng)求方式RSR .................................................................................................................153
4.6.2　機(jī)器人程序編號(hào)選擇啟動(dòng)方式PNS .................................................................................................154
第5 章　KUKA 工業(yè)機(jī)器人控制柜及安全控制回路 .............................................................................156
5.1　KUKA 工業(yè)機(jī)器人標(biāo)準(zhǔn)型控制柜的組成及作用 ....................................................................................156
5.1.1　KR C4 PC 組件 ....................................................................................................................................157
5.1.2　KR C4 的總線系統(tǒng)..............................................................................................................................161
5.2　KUKA 工業(yè)機(jī)器人緊湊型控制柜的組成 ................................................................................................169
5.2.1　KUKA 工業(yè)機(jī)器人緊湊型控制柜的組成和連接 .............................................................................170
5.2.2　KUKA 工業(yè)機(jī)器人緊湊型控制柜控制箱的組成 .............................................................................171
5.2.3　KUKA 工業(yè)機(jī)器人緊湊型控制柜驅(qū)動(dòng)裝置箱的組成 .....................................................................171
5.3　KUKA 工業(yè)機(jī)器人控制柜的安全控制回路 ............................................................................................172
5.3.1　KUKA 工業(yè)機(jī)器人標(biāo)準(zhǔn)型控制柜的SIB 安全控制回路 .................................................................172
5.3.2　KUKA 工業(yè)機(jī)器人緊湊型控制柜的SIB 安全控制回路 .................................................................176
5.3.3　KUKA 工業(yè)機(jī)器人PROFIsafe 安全功能 .........................................................................................179
第6 章　KUKA 工業(yè)機(jī)器人與PLC 的通信 .............................................................................................184
6.1　KUKA 工業(yè)機(jī)器人與西門子PLC 的PROFIBUS 通信 .........................................................................184
6.1.1　KUKA 工業(yè)機(jī)器人PROFIBUS 通信配置 ........................................................................................184
6.1.2　西門子PLC 的PROFIBUS 配置 .......................................................................................................194
6.2　KUKA 工業(yè)機(jī)器人與西門子PLC 的PROFINET 通信 .........................................................................200
6.2.1　KUKA 工業(yè)機(jī)器人PROFINET 通信配置 ........................................................................................201
6.2.2　PLC 配置 .............................................................................................................................................204
6.3　KUKA 工業(yè)機(jī)器人外部自動(dòng)運(yùn)行的配置方法......................................................................................217
6.4　KUKA 工業(yè)機(jī)器人KLI 配置方法 ...........................................................................................................223