Description
IC697MDL252 Canopen Interface Module
высотой 3U, расположенный в раме управления под DSPX.
волоконно – оптический разъем на передней панели и передаются в модуль обнаружения заземления.
ABB: Запасные части для промышленных роботов серии DSQC, Bailey INFI 90, IGCT, например: 5SHY6545L0001 AC1027001R0101 5SXE10 – 0181, 5SHY3545 L0009, 5SHI3545L0010 3BHB013088 R0001 3BHE009681R0101 GVC750BE101, PM866, PM861K01, PM864, PM510V16, PPD512, PPPD113, PP836A, P865A, 877, PPP881, PPPP885, PPSL500000 4 3BHL00390P0104 5SGY35L4510 и т.д.
General Electric: запасные части, такие как модули, карты и приводы. Например: VMVME – 7807, VMVME – 7750, WES532 – 111, UR6UH, SR469 – P5 – HI – A20, IS230SRTDH2A, IS220PPDAH1B, IS215UCVEH2A, IC698CPE010, IS200SRTDH2ACB и т.д.
Система Bently Nevada: 350 / 3300 / 1900, предохранительные зонды и т.д., например: 3500 / 22M, 3500 / 32, 3500 / 15, 3500 / 23500 / 42M, 1900 / 27 и т.д.
Системы Invis Foxboro: Серия I / A, управление последовательностью FBM, трапециевидное логическое управление, обработка отзыва событий, DAC,
обработка входных / выходных сигналов, передача и обработка данных, такие как FCP270 и FCP280, P0904HA, E69F – TI2 – S, FBM230 / P0926GU, FEM100 / P0973CA и т.д.
Invis Triconex: Модуль питания, модуль CPU, модуль связи, модуль ввода – вывода, например 300830937214351B, 3805E, 831235114355X и т.д.
Вудворд: контроллер местоположения SPC, цифровой контроллер PEAK150, например 8521 – 0312 UG – 10D, 9907 – 149, 9907 – 162, 9907 – 164, 9907 – 167, TG – 13 (8516 – 038), 8440 – 1713 / D, 9907 – 018 2301A, 5466 – 258, 8200 – 226 и т.д.
Hima: модули безопасности, такие как F8650E, F8652X, F8627X, F8678X, F3236, F6217, F6214, Z7138, F8651X, F8650X и т.д.
Honeywell: Все платы DCS, модули, процессоры, такие как: CC – MCAR01, CC – PAIH01, CC – PAIH02, CC – PAIH51, CC – PAIX02, CC – PAON01, CC – PCF901, TC – CR014, TC – PD011, CC – PCNT02 и т.д.
Motorola: серии MVME162, MVME167, MVME172, MVME177, такие как MVME5100, MVME5500 – 0163, VME172PA – 652SE, VME162PA – 344SE – 2G и другие.
Xycom: I / O, платы VME и процессоры, такие как XVME – 530, XVME – 674, XVME – 957, XVME – 976 и т.д.
Коул Морган: Сервоприводы и двигатели, такие как S72402 – NANA, S6201 – 550, S20330 – SRS, CB06551 / PRD – B040SSIB – 63 и т. Д.
Bosch / Luxer / Indramat: модуль ввода / вывода, контроллер PLC, приводной модуль, MSK060C – 0600 – NN – S1 – UP1 – NNN, VT2000 – 52 / R900033828, MHD041B – 144 – PG1 – UN и т.д.
Design of ABB industrial robot deburring and grinding workstation based on RobotStudio simulation software
introduction
As an official offline programming software for ABB robots, Robotstudio not only has powerful simulation and offline programming functions, but also has automatic path generation
function and simulation monitoring collision function. It can realize the simulation of robots in real scenes, so as to timely update existing robot programs. optimize. On-site teaching
programming will affect normal production activities on site.
The application of Robotstudio software offline programming can reduce on-site teaching and programming time.
As a traditional process of mechanical processing, deburring and grinding have a wide range of applications. However, for a long time, in the process of manual deburring
and polishing, there have been differences in operations between workers. The manual operation is not repeatable and the deburring effect is unstable, which has seriously
affected the surface quality and service life of the finished product; and the working environment There is a large amount of dust floating in the air and the conditions are harsh,
seriously endangering the physical and mental health of workers. With the proposal of “Made in China 2025”, intelligent manufacturing production has become an
important development direction for the transformation and upgrading of the future manufacturing industry. The use of industrial robot automated production lines for repetitive
batch processing operations can not only greatly improve production efficiency, but also greatly improve product quality. Yield and production stability. Therefore, before designing
the robot polishing program, if the shape, size and polishing amount of the workpiece to be polished are known, the robot offline program can be written on the
Robotstudio software according to the existing conditions, thereby improving the efficiency of on-site programming.
1Design task description
This task is to create a new simulation workstation in ABB robot simulation software Robotstudio. The corresponding training equipment in reality is the Yalong
YL-l360A industrial robot deburring and grinding system control and application equipment. The industrial robot selection and method of the simulation workstation are
The grinding head installed on the blue plate refers to the Yalong YL-l360A industrial robot deburring and grinding system control and application equipment, and the
workpiece is customized. The ABB industrial robot deburring and
grinding workstation simulation training process includes: creating a workstation, setting up tools, creating smart components, creating tool coordinate systems,
creating trajectories, programming, simulation design, and verification.
2 Task implementation
2.1 Create a workstation
Import the robot: First, create a new simulation workstation in the Robotstudio software. The workstation name is self-named, and then import the
corresponding industrial robot IRB1410. The robot position remains unchanged by default. Create a robot system, modify the system options, check 709-1D
eviceNetMaster/s1ave, select Chinese as the language, and leave the other options unchanged by default, then click Confirm to create the robot system
After the robot system is created, hide the industrial robot IRB1410 to facilitate subsequent workstation operations.
Import workpiece: The workpiece here is customized, and the corresponding workpiece is selected according to the actual situation on site. This article
uses the original workpiece Curvet in Robotstudio software. After importing it into the workstation, according to the reachable range of the robot, just place the
workpiece at a suitable location within the reachable range of the robot, as shown in Figure 1.
Import the grinding rotor tool: First, create a new grinding rotor tool component – rotor – copy (2) and rotor – copy (2) in the so1idworks 3D software. The
rotor – copy (2) is a rotatable grinding rotor. —The copy is the tool body, which is the grinding rotor frame, and is installed on the robot flange, as shown in Figure 2.
2.2 Setting tools
First, move the rotatable grinding rotor and the tool body to the local origin based on point A, and adjust the initial tool angle so that the grinding rotor is
parallel to the x-axis of the geodetic coordinate system, as shown in Figure 3. Set the local origin of the tool body at this time, change the position x, y,: to 0, 0, 0, and change the direction x, y,: to 0, 0, 0.
Figure 3 Tool settings
Create a new frame at point B of the tool body, name it “frame l”, and adjust the direction of frame l so that the axis is perpendicular to the
plane of point B. The specific direction is shown in Figure 4.
KONGSBERG AUE-1108 controller
SCA640-74GM Reconnaissance camera BASLER ELECTRIC
BASLER A404K High performance industrial camera
A402KC BASLER Industrial Camera
3500/15 AC power module of half height
80190-580-51 Driver processor module
9907-1200 WOODWARD Current-pressure converter
9662-610 3000520-390C1R Wiring terminal
1762-IF4 Analog input module
07DC91C GJR5251400R0202 Digital I/O module
5X00121G01 Input module
IC693MDL230 Isolated input module
DSTC170 57520001-BK For line selector
IC693MDL634 24 volt DC positive/negative logic input module
DSTV110 57350001-A Video connection unit
DSTC150 57510001-P Connection unit
DSDX180 3BSE003859R1 Digital input/output module
DSAV111 57350001-CN Video board
DSDP010 3BSE005274R1 counter board
DSDP140AK03 3BSE019921R1 pulse encoder
DSAI110K07 3BNP000283R1 analog input device module
DSAX110K08 3BSE019920R1 Analog input/output
DSDI110AV1K02 3BNP000051R2 Digital input device
DSAO120K07 3BSE019938R1 Analog output kit long
DSAI133K09 3BSE019936R1 Analog input 32 channels 12 bits
DSDI110K06 3BNP000030R1 digital input device
DSAI130K03 3BNP000028R1 Analog input 16-channel module
DSDC111K02 3BSE019935R1 Thyristor Rectifier connector
DSDI110AK15 3BSE019928R1 Digital input Kit
DSDI120AK04 3BSE019930R1 Digital input module
DSAI130K07 3BNP000520R1 Analog input 16-channel module
DSDI120AK03 3BSE019929R1 Digital input
DSDO115K03 3BSE005436R1 Digital output module
DSDO115K10 3BSE019931R1 Digital Output Kit
NEW 5SHY3545L0020 3BHE014105R0001 5SXE08-0166 Thyristor controller
REF541DM115AAAA feeder terminal
DSDP110K02 3BSE005429R1 pulse input 28 channels
REM610C55HCNN Motor Protection Relay
DSDP140AK04 3BSE019922R1 pulse encoder
REF541KM115AAAA feeder terminal
DSDI110AK13 3BSE019926R1 Digital input
SPAM-150C motor protection relay
DSDP170K02 3BSE019925R1 pulse encoder input
REU610CVVHCNN Motor protection relay
GPU 2000R generator protection unit
DSDP150K05 3BSE019923R1 pulse encoder input
HIMA Z7116 CONNECTION CABLE
UR8FH Ur Relay Module
UFC762AE101 3BHE006412R0101 Control processor module
TSXPBY100 Profibus DP V0 module kit
TK-PRR021 51309288-275 Redundant module
TK-PRS021 51404305-275 Control Processor Module
TK-PRR021 51309288-275 Redundancy Module
TK-IOLI01 51403427-175 Direct Control Systems
TK-FTEB01 51309512-175 Ethernet Module
TK-FPDXX2 POWER SUPPLY
ICS TRIPLEX T9451 Output module
ICS TRIPLEX T9402 Digital Input Module
ICS Triplex Trusted TMR Processor T8110B
DDK SAN3-40 SAN3-40M Servo shaft controller
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