现场总线(PLC+机器人)KUKA机器人应用.ppt

PLC 网络,INTERBUS产品命名规则,IB:ITERBUS产品;-S:带适配器,设计风格/设计厂家,电压,功能,输入/输出数量,接线,DesignBABosch controller boardBOXLoop deviceCBGeneration 3 controller boardCCCompact controller housingCPCICompact PCI bus(32 bits)CTCT module(configurable terminal)DCBGeneration 3 controller board with diagnostic displayDSCGeneration 4 controller board with diagnostic displayETHEthernet controller boardFCField controllerGEGE Fanuc controller boardIBSLInstallation local bus moduleILInline,INTERBUS产品命名规则,设计风格/设计厂家,IPIP 67/65/54 class of protectionIPCKlckner-Mller controller boardIPCIIndustrial PCI bus(32 bits)IPKESIP 67 KES class of protectionIPKISIP 67 KIS class of protectionISAPC ISA bus(8/16 bits)L2Loop 2 deviceMEAMitsubishi MELSEC controller boardPCController board for IBM-compatible PCsPCIPC PCI bus(32 bits),PLC5Allen-Bradley controller boardRFCRemote field controllerRLRugged LineRTRT module(remote terminal)S5/S7Siemens SIMATIC controller boardSABSensor/actuator boxSCGeneration 4 controller board without display(standard controller)SLInstallation local busSTST module(smart terminal)STMEReplacement module electronics ST ZFST module with spring-clamp connectionVMEVMEbus controller board,INTERBUS产品命名规则,设计风格/设计厂家,Supply Voltage2424 V DC120/230120/230 V AC500500 V AC400400 V AC,INTERBUS产品命名规则,电压,Task/FunctionAIAnalog input moduleAIOAnalog input/output moduleAOAnalog output moduleBDO/BDIBasic version of the corresponding moduleBAO/BAIBKBus terminal moduleBKMBasic bus terminal moduleBK RB-TBus terminal module with 2nd remote bus interface in copperBK RB-LKBus terminal module with 2nd remote bus interface in fiber opticsBK LB-TBus terminal module with local bus interface in copperCBKBus terminal module for installation remote busCDI/CDODigital installation remote bus input/output moduleCNTCounter module,INTERBUS产品命名规则,功能,DIDigital input moduleDIODigital input/output moduleDODigital output moduleELRElectronic load relayFTFault-tolerantGTCoupling module(Gateway)INCIncremental encoder moduleMLRMechanical load relayPTResistance sensorsR/RELSRelay outputSEBHigh-speed exciter moduleUTHThermocouplesV.24Serial connection V.24/RS-232VFDFrequency inverterWTExtended temperature range,INTERBUS产品命名规则,功能,Extensions-2ACurrent limit-LKWith fiber optics connection-SFSpecial function(0-20mA)-SF/4 Special function(4-20mA)-TWith copper remote bus connection(twisted pair)/BPBipolar/ETHWith Ethernet interface/IWith electrical isolationLB/RBLocal bus/remote bus,INTERBUS产品命名规则,接线,INTERBUS元件介绍,光缆接头,1,2,光缆插头,1,2,附属设备,模块连接板,保护插头,RL模块,IBS RL24DIO 8/8/8-LK,IBS RL24DO 16/8-R-LK,RL模块,IBS RL 24DI16/8-LK,IBS RL 24BK RB-LK-LK,IL模块,IBS IL 24 BK-LK/45,IB IL 24 DI16,IL模块,IB IL 24 DO8,IB IL 24 PWR IN,INTERBUS主要特点,plug&play准确查找故障适于多种类控制系统适于多种产品简单易用,INTERBUS.,模块无设置自动起动(auto-debugging)测试功能(configuration)安装方便I/O监控预处理功能,Plug&Play,INTERBUS.,短路保护自动检测模块抗 EMC 干扰外设故障掉电压电缆检测,故障查找简单,INTERBUS.,适于多种类产品,ABBAllen BradleyBoschGE FanucKukaSchneider,Siemens S5Siemens S7Phoenix ContactPC systems,INTERBUS 总线输入/输出设备,Interbus PSPD-FAW-VW,INTERBUS 总线 网络结构,INTERBUS 拓扑结构,环状拓扑结构最多256个设备无须终端电阻,自动闭环不需在设备上设定地址 扩展简单,环路随设备增加自动扩展,Master,INTERBUS 网络拓扑,拓扑结构易于分支实用性强 多至16层的分支,Remote bus branch,Master,INTERBUS Topology,系统运行中可停止某段分支,Master,Remote bus branch,INTERBUS 传输路径,远程总线:最多256台设备最多16层标准传输介质:铜导线或光纤,Master,INTERBUS 传输介质,铜导线:RS-485双绞保护.如:LI-YCY 3 x 2 x 0.25 mm无转接器时最远传送距离400m,Master,INTERBUS Transmission Media,红外线传送:Max.200 m,Master,INTERBUS 传输介质,近程总线:BK所能驱动的设备数量取决于自身电流和被驱动设备的电流直接互相靠接或 用 D-SUB 接头环接,Local bus branch,Master,INTERBUS 传输路径,Installation remotebus:数据和电源在同一根导线中传播分支长度最大50 m 最大电流 4.5 A(1.0 mm),Installation remote bus branch,24 V,Master,INTERBUS 传输路径,Installation local bus:无保护2线,电源和数据同线 Olflex 2 x 1.5 mm最多63个设备两设备间最长20 m 总长 不超过200 m,Loop-Abzweig,24V,Master,本地总线,RBUS输入,RBUS输出,最大 800毫安/最多 8 个模块,ST-紧凑站,最大 400毫安/最多 4 个模块,L n,L n+1,INTERBUS 总线网络结构,I/O,I/O,I/O,I/O,I/O,I/O,I/O,I/O,I/O,I/O,I/O,I/O,BK,BK,BK,BK,BK,I/O,BK,BK,E 0,E 15,E 3,E 2,E 1,总线适配控制器,最多 16 层的,树状网络结构,L0.L15,本地总线,RBUS,输出,RBUS,输入,L n,L n+1,导线形(扁平型 I/O 模块),最长 10米,最长 1.5米,BS m,BS m+1,BS m+2,最大 800毫安/最多 8 个模块,设备识别号,I/O,I/O,I/O,I/O,I/O,I/O,I/O,I/O,I/O,BK,BK,BK,BK,I/O,BK,I/O,I/O,I/O,BK,2.0,2.1,2.2,2.3,2.8,3.0,4.0,4.1,4.2,4.3,5.0,6.0,6.1,6.2,7.0,8.1,8.0,8.2,8.3,BS 1,BS 2,BS 3,BS 4,BS 5,BS 6,BS 7,BS 8,设备号码,I/O,总线适配控制板,1.0,E0,E1,L2,L3,总线段.位置,1.254,设备号码,总线段.位置,1.254,组定义/选择组定义,BS m,组号码选择组,设备号码,RBUS输出,RBUS输入,总线连接方式,双铰线电缆,Covering,COM,20 mm,(0.79 in.),8 mm(0.32 in.),3 mm(0.12 in.),9-pos.D-SUB,pins,9-pos.D-SUB,sockets,Remote Bus Cable(D9/D9),green,pink,yellow,grey,brown,solder side,solder side,DO,DI,COM,6,1,7,2,3,DI,DO,strainrelief-,9,6,1,7,2,3,5,DO,DI,COM,DI,DO,strainrelief,relief,1,2,3,strain relief,1,5,6,9,1,5,6,9,D-SUB 连接方式,远程总线连接,9-pos.SUBCON,pins,9-pos SUBCON,sockets,Remote Bus Cable(SUBCON 9/SUBCON 9),green,pink,yellow,grey,brown,DO,DI,COM,6,1,7,2,3,DI,DO,strain,relief,9,6,1,7,2,3,5,DO,DI,COM,DI,DO,strain,relief,1,2,3,strain relief,5 4 3 2 1,9 8 7 6,50 mm,(1.97 in.),10 mm,(0.39 in.),5 mm(0.20 in.),DSC 电路板,电路板的硬件,1 显示器2 键盘3 编程插口4 网络插口5 把手6 FLASH卡7 模式DIP8 通讯寄存器地址9 背板总线插口10安装锁孔,CMD 通讯 组态,通讯接口选择,接口设置,建立一个新的项目,在微软窗口下启动CMD,选择总线适配控制板类型,总线适配控制板关联菜单,与PLC系统通信,插入设备,ID号,过程数据长度,更改设备描述,界面类型,外观设计,界面类型,远程或本地带有分支总线,不带分支,建立/编辑总线结构 1/2,建立/编辑总线结构 2/2,改变设备说明,插入菜单的关联菜单,CMD 逻辑设址,过程数据分配的关联菜单,共同分配,单独分配,建立过程数据的说明,执行参数化和启动总线,传输参数化数据至主控板,写入参数化存储器,*.bg4 项目文件的副本存储在,参数化存储器中,INTERBUS 诊断,Master,INTERBUS 诊断,The controller board stops data traffic and starts troubleshooting Devices close the outgoing interfaces,Master,Master,INTERBUS 诊断,Master,Device 1 is OKConnecting No.2,INTERBUS 诊断,Master,Device 2 is OKConnecting No.3,INTERBUS 诊断,Master,Device 3 is OKConnecting No.4,INTERBUS 诊断,Master,Device 4 cannot be started up,REMOTE BUS-Error type-,SEGMENT 4-Error location-,INTERBUS 诊断,Master,Example A:The system cannot be operated!All outputs are set to”0“,INTERBUS 诊断,Example B:The PLC restarts the bus,Master,远程总线设备诊断,在BK模块上诊断,UL,(绿)为模块化电子装置提供电压,RC,(绿)进线远程总线准备就绪,BA(绿)总线运行,E(红)分支的本地总线上出错,LD(红)本地总线已关闭,RD(红)出线向远程总线已关闭,UL,RC,BA,E,LD,RD,PE,UL,RC,BA,E,LD,RD,Rec,Bus Terminal,24 V DC,Module Ident.:08,IBS ST 24 BK-T,IBS ST 24 BK-T,IBS 24 BK-T,Remote,IN,OUT,Type:IBS 24 BK-T,Bus Terminal,24 V DC,Module Ident.:52,+-,告警输出,重新配置输入,INTERBUS,INTERBUS,带有多个总线分支的BK模块,IBS ST 24 BK LB-T,RC,BA1,BA2,LD1,LD2,RD,Bus Terminal,24 V DC,Module Ident.1:08,Module Ident.2:52,IBS ST 24 BK LB-T,UL,E1,E2,1,2,Reconfiguration,IBS ST 24 BK RB-T,Bus Terminal,24 V DC,Module Ident.1:08,Module Ident.2:12,IBS ST 24 BK RB-T,1,2,Reconfiguration,RC,BA1,BA2,LD1,LD2,RD,UL,E1,E2,UL,(绿)为模块化电子装置提供电压,RC,(绿)进线远程总线准备就绪,BA1,BA2 数据传输启动,E1(红)在IB ST 紧凑站出错,IB ST-Kompaktstation,E2(红)远程总线/本地总线分支处出错,LD1(红)紧凑站已关闭,LD2(红)远程总线/本地总线分支已关闭,RD(红)出线远程总线已关闭,附加的,本地总线分枝,附加的,远程总线分支,INTERBUS,INTERBUS,在远程总线设备处诊断,BA(绿)总线启用,RC(绿)进线远程总线准备就绪,RD(红)出线远程总线已关闭,状态指示灯(黄色),输入/输出,Ready,UB(1),UB(2),BA,RC,RD,4,3,2,1,UL,RC,BA,RD,UL(绿)为模块化电子装置提供电压,READY(绿)模块准备就绪,UB(n)(绿)开关电压电源(第 n 小组),sorgung,状态指示灯(绿色/红色),输入/输出/出错,IBS SAB 24 DIO 4/4/2,IBS RT 24 DIO 16/16-T,环路BK模块的诊断,des INTERBUS-Loops,IBS SL 24 BK-T,IBS SL 24 BK-LK,UL,RC,BA,E,LD,Type:IBS SL 24 BK-T,Remote IN,Remote OUT,U,SL,1 2 3 4 5 6,Interbus Loop,RD,U,S,Fuse,+-,+-,+-,UL,RC,BA,E,LD,RD,U,SL,InterBus Loop,F,U,S,E,Remote IN,Remote OUT,IN,OUT,IN,OUT,IBS SL 24 BK-LK,INTERBUS,INTERBUS,本地总线设备诊断,9,10,11,12,13,14,15,BA,1,2,4,5,6,7,8,16,CC,UL,Us3,E2,Us4,Us1,E1,Us2,IN,OUT,3,U,L,UL(绿)模块化电子装置供电压,E,U,S,E/A-Status,E,U,S,E/A-Status,US(n)(绿)外围设备(第 n 组)供电压,En(红)过载/短路,XX(黄)输入/输出状态(通道 XX),CC(绿)ST电缆检查,BA(绿)总线启用,INTERBUS,环路设备诊断,US,(绿)执行器电压,XX(黄)输入/输出状态,(通道 XX),DIAG,(绿),诊断-LED,总线启用 LED 亮,模块化电子LED 闪烁频率为 1Hz设备供电压外围设备出错/LED 闪烁频率为 4 Hz短路,IBSL BOX 24 DO 2/2 M12-2A,IBSL BOX 24 DI 4/4 M12,DIAG,IN,OUT,3,4,1,2,24V,DIAG,US,IN,OUT,1,2,键盘,:上移一个记录，称为箭头朝上,:下移一个记录，称为箭头朝下,:右移一个记录，称为箭头朝右,:左移一个记录，称为箭头朝左,:执行,:退出,远程总线出错,BASP,INTERBUS,第 1 段,第 2 段,第 3 段,Byten+1 0 1 2 3 4 5 6 7,n 0 1 2 3 4 5 6 7,INTERBUS,n 0 1 2 3 4 5 6 7,Byten+1 0 1 2 3 4 5 6 7,本地总线出错,BASP,INTERBUS,第 1 段,第 2 段,第 3 段,INTERBUS,Byten+1 0 1 2 3 4 5 6 7,n 0 1 2 3 4 5 6 7,n 0 1 2 3 4 5 6 7,Byten+1 0 1 2 3 4 5 6 7,总线故障,BASP,INTERBUS,第 1 段,第 2 段,第 3 段,Byten+1 0 1 2 3 4 5 6 7,n 0 1 2 3 4 5 6 7,总线错误E1-E9,E1在错误发生以后，在配置获取和比较过程中没有再找到错误。-电源/屏蔽/接地,E2超过最大配置,E4不能获取配置。-电源-,E6在配置获取和比较过程中没有找到错误，但是，数据周期不能运行。-电源/屏蔽/接地,E7 在启动过程中不能获取配置。,BASP,INTERBUS,E8在诊断周期的启动过程中不能获取配置。,E9在诊断运行时改变配置。,Byten+1 0 1 2 3 4 5 6 7,n 0 1 2 3 4 5 6 7,用户出错,BASP,INTERBUS,第 1 段,第 2 段,第 3 段,Byten+1 0 1 2 3 4 5 6 7,n 0 1 2 3 4 5 6 7,设备出错,INTERBUS-S,第 1 段,第 2 段,第 3 段,CMD 诊断主窗口,在总线第 1 段,的出错数目,在选定的总线段,第1个本地总线设备,的出错数目,记录统计(在线),SystemkopplerIBS ISA SC/RI/I-T,System couplerIBS ISA SC/RI/I-Tin the robot controller,System couplerIBS ISA SC/RI/LK,Remote OUT 1,Remote OUT 2,Remote IN 2,System couplerIBS ISA SC/RI/I-T,Diagnosis interface,24 V,0 V,GND,24 V,0 V,GND,Externalpower supplyfor the Slave,Interbusinterface,Interbus interface,Slave remotebusinput X12A,Slave remotebusoutput X12B,Interbus interface,Diagnosis,Master remotebusoutput X14,Master remotebusoutput X15,Remotebus hybrid cabel,System couplerIBS ISA SC/RI/I-T,Micro switches,base adresse,width of the data wordin the bus telegram,Function test,Interbus configurationIBS ISA SC/RI/I-T(LK),Configuration files,Interbus reset and start again,Reconfigure the Interbus card,Operate theSystem coupler,;DRIVERSINTERBUS=1,ibusInit,ibus.drv.oINTERBUSINW0=0INB2=2;INDW3=896;OUTW0=0OUTB2=2;OUTB3=896,x4ENDSECTION,Configuration file iosys.ini,MPM,;DRIVERSINTERBUS=1,ibusInit,ibus.drv.oINTERBUS;ANIN1=0,10,3;$ANIN1ANIN2=2,10,3;$ANIN2;ANOUT1=0,10,3;$ANOUT1ANOUT2=2,16,0;$ANOUT2;ENDSECTION,MPM,Configuration file iosys.ini,Configuration file iosys.ini,Analog I/O:number of analog bits,analog type,;DRIVERSINTERBUS=1,ibusInit,ibus.drv.oINTERBUS;ANIN1=0,10,3;$ANIN1ANIN2=2,10,3;$ANIN2;ANOUT1=0,10,3;$ANOUT1ANOUT2=2,16,0;$ANOUT2;ENDSECTION,练习1.完成实验态基本组态2.利用PLC实现机器人自动运行3.对现场夹具实现自动开关功能,