1. B.0; û4ý · 2017. 7. 10. · 8 3.1.3. IRC55 ´ Ä ü Å × f Q Ë+e Q CM power supply P¡ Ø Q Ë+e Q DM power supply kAÑ1Ç j Main computer ¹ M ¯ Panel board E¤AÑ1Ç j

1

© ABB GroupFebruary 21, 2013 | Slide 1

1.

IRC 5

R.S.O


1.

IRC5

I/O

2

2

2.1.

2.2.



2.1.

3

2.1.

E-Stop

( E-Stop )



2.1.

<250 mm/s100%

4

2.1.


2.1.

User’s Guide


5


2.2.

© ABB GroupFebruary 21, 2013 | Slide 10© ABB Group

February 21, 2013 | Slide 10

6

3 IRC5

3.1.3.1.1.

3.1.2.

3.1.3.

3.1.4.

3.2.

3.3.


3.

1.

2.

3.


7

3.1. IRC5

1. (Dual cabinet)

2. (Single cabinet)

3. (Panel mounted controller)

4. (compact controller)


3.1.2.

A— /

B—

C—

D—

A— /


8

3.1.3. IRC5

CM power supply

DM power supply

Main computer

Panel board

Axis computerboard

Drive unit- Manipulator

-

Computer UltraCap

Customer power supply/

I/O Unit

Contactor unit


3.1.4. IRC5

Operator´s panel

Service portsU S B Customer (I/O)

space

FlexPendant connection

Axis computer board

Panel boardMain computer

Computer UltraCap

Drive unit

Power distributionboard

Power supply

Contactor unit© ABB GroupFebruary 21, 2013 | Slide 16

9

3.2.


–5 kg to 60 kg

IRB 140IRB 1410 IRB 1600 IRB

1600ID

IRB 2400 IRB 4400

IRB 4450S

IRB 2400L© ABB GroupFebruary 21, 2013 | Slide 18

10

–125 kg to 630 kg

IRB 6640

IRB 7600IRB 6660IRB 6660

IRB 6620

IRB 6650SIRB 6640


Rectifier

Motor

Resolve

Transformer

Gear

AxisComputer

MainComputer

Serial Measurement Board

Drive unitDrive unit

Drive unit


11

3.2.

• ( SMB )

•

•

•


3.3. (FlexPendant/TPU)


12

3.3.


3.3.


13

3.3.


3.3.


14

3.3.

:

7.7 inch

640 x 480 pixels


3.3.

& R.S.O


15

4

4.1.4.1.1.4.1.2.

4.1.2.14.1.2.24.1.2.3

4.1.3.4.1.4.4.1.5.4.1.6.4.1.7.4.1.8.

4.2.4.3.

4.3.1.4.3.1.14.3.1.2

4.3.2.4.3.2.14.3.2.2


4.1.

12 ABB


16

4.1.1.

1


4.1.1.

2


17

4.1.2.

12


4.1.2.1.

Axis 1-3 1-3

Axis 4-6 4-6


18

4.1.2.1.


4.1.2.2.

Reorient

TCP

4.1.4


19

4.1.2.2.


4.1.2. 3.

LinearTCP

1.

2.

3.

1) tool02) …….

4.

1) wobj02) …….


20

4.1.2.3.1 —


4.1.2.3.2 —


21

4.1.2.3.3 —


4.1.2.3.4 —


22

4.1.3.

12 TCP


4.1.4.

12


23

4.1.5.

12


4.1.6.

12


24

4.1.7.


4.1.8.


25

4.2.


4.2.


26

4.2.


4.2.


27

4.2.


4.2.


28

4.2.


4.2.


29

4.3.

Base Coordinate System

World Coordinate System

Tool Coordinate System

Work Object Coordinate System


4.3.

(TCP)


30

4.3.1.

TCP

TCP1) Reorient

TCP2) Linear

TCP

TCP

TCP


4.3.1.

TCPTOOL0

TCP

TCPTCP


31

4.3.1.

tool 0

tPen


4.3.1.1.

1. N(N>=4) /TCP TCPN

TCP ( tool0 )tool0

2. TCP&Z N ZZ

3. TCP&X,Z N XX ZZ


32

1 ABB

2

4.3.1.2.


4.3.1.2.

3 tooldata ,


33

4.3.1.2.

4 … , tooldata


4.3.1.2.

5 … , . .


34

4.3.1.2.

6 tooldata ,


7 tooldata1)mass kg2)cog: x y z mm

4.3.1.2.


35

4.3.1.2.

8 tooldata


4.3.1.2.

9


36

4.3.1.2.


10 TCP

11 TCP

4.3.1.2.


37

4.3.2.

Wobj

Wobj

Wobj


X1

X2

Y1User

X1

X2

Y1

Object

X

Y

X

Y

4.3.2.1.

• X1 X2 XY1 X Y


38

4.3.2.2.

1 ABB.

2

3 wobjdata ,


4 … , wobjdata

4.3.2.2.


39

4.3.2.2.

5 … , . .


6

4.3.2.2.


40

7wobjdata

4.3.2.2.


8

4.3.2.2.


41

9 TCP X1

10 9 TCP X2 Y1

4.3.2.2.

X1

X2

Y1

X

Y


11 wobj1

4.3.2.2.


42

5

5.1.

5.2.5.2.1.

5.2.2.

5.2.3.

5.2.4.

5.2.5.

5.2.6.

5.2.7.

5.2.8.

5.2.9.


5.1.

Signal Unit Bus Main Computer


43

5.1.

• DI• DO• GI 8421• GO 8421• AI• AO


5.1.

• Cross Connections .•

•

• 40 ,20

• 1024

• 64 Byte 64 Byte


44

5.1.

• Cross Connections .•

•

• 40 ,20

• 1024

• 64 Byte 64 Byte


5.1.

• Cross Connections .• Cross Connections 5 Actor•

• 16•


45

5.2.

•

•

•

•

•

•

•

•


5.2.1. I/O

1

2

3 Bus


46

5.2.1. I/O

4


5.2.1. I/O

5 Type of Bus DeviceNet


47

5.2.1. I/O

6 Connector ID First Board

7 DeviceNet master address0-63 , DeviceNet


5.2.1. I/O

8


48

5.2.2.AD Combi I/O-

Combi I/O DSQC 651 24VDC 8 82


5.2.2.Digital I/O-

Digital I/O DSQC 652 24VDC 1616

49

5.2.2.Relay I/O-

Relay I/O DSQC 653 24VDC 8 8


© ABB Group

5.2.2.AD Combi I/O-

Combi I/O DSQC 327A 24VDC 1616 2


50

5.2.2.Digital I/O-

Digital I/O DSQC 328A 24VDC 1616


5.2.2.Relay I/O-

Relay I/O DSQC 332A 24VDC 1616


51

5.2.2.

• Analog I/O DSQC 355A4 4


5.2.2.Remote I/O

• Remote I/O DSQC 350AAllen Bradley128 128


52

5.2.2.Interbus-S

• Interbus-S (slave) DSQC 351AInterbus-S

128 128


5.2.2.Profibus-DP

• Profibus-DP DSQC 352AProfibus-DP

128 128


53

5.2.2.CCLink

• CCLink DSQC 378ACCLink


5.2.2.

• Encoder interface unit DSQC 377AConveyer Tracking


54

5.2.2.Profibus Fieldbus Adapter-DSQC667

• Profibus Fieldbus Adapter-DSQC667RW 5.09.02

DSQC639 64 Byte 64 Byte.


5.2.2.Ethernet/IP Fieldbus Adapter-DSQC669

• Ethernet/IP Fieldbus Adapter-DSQC669RW 5.10.03

DSQC639 64 Byte 64 Byte.


55

5.2.2.

X5


5.2.3. I/O

1

2

3 Unit


56

5.2.3. I/O

4


5.2.3. I/O

5 Name16


57

5.2.3. I/O

6 Type of Unit d652


5.2.3. I/O

7 Connected to Bus DEV1


58

5.2.3. I/O

8 DeviceNet Lean Address

9 Trust Level Trust Level

10 Unit startup state


5.2.3. I/O

11


59

5.2.4. I/O

1

2

3 Signal


5.2.4. I/O

4


60

5.2.4. I/O

5 Name16


5.2.4. I/O

6 Type of Signal


61

5.2.4. I/O

7 Assigned to Unit BOARD63


5.2.4. I/O

8 Unit Mapping

9 Access level Access level

11© ABB GroupFebruary 21, 2013 | Slide 122

62

5.2.4. I/O

DI/

GI

Filter time passive

010 ( ) 32

Filter time active

110 ( ) 32

DO/

GO

Store value at System Failure and Power fail

YESNO 0

Store signal value at Power failYESNO 0


5.2.5.

•

•


63

5.2.5.

Motors On

Motors On and Start ( )

Motors Off –

1

Load and Start ( )Argumentflp1:ABB.prg


5.2.5.

Interrupt ( )Argumentroutine 1

Start ( )

Start at Main ( )


64

5.2.5.

Stop1

Stop at the end of Cycle

1

Stop at the end of Instruction

1


5.2.5.

• Reset Execution Error Signal

• Reset Emergency stop

• System Restarta RAPID .


65

5.2.5.

• Argument 1 Argument 2

1) Argument 1: Interrupt, Load and Start,Motors On and Start, Start, Start at Main

, . .


5.2.5.

• Argument 1 Argument 2

2 Argument 2: MultimoveLoad and Start Interrupt


66

5.2.5.

1

2

3 System Input


5.2.5.

4


67

5.2.5.

7


5.2.6.

•


68

5.2.6.

Auto On

Cycle On

Emergency Stop

Motion Supervisin On

Motion Supervision Triggered


5.2.6.

Execution Error

Motor Off State

Motor On State

Motor Off

Motor On


69

5.2.6.

Power Fail Error

Path return Region Errorr

Runchain Ok

TCP Speed

2 2000mm/s


5.2.6.

1

2

3 System Output


70

5.2.6.

4


5.2.6.

5 Signal Name16

6 Status


71

5.2.6.

7


5.2.7.

•

•Logical Cross

Connections


72

5.2.7.


5.2.7.

1

2

3 Cross Connection


73

5.2.7.

4


5.2.7.

5

6


74

5.2.8.

•


5.2.8.

1 ABB I/O

2


75

5.2.8.

3


5.2.8.

41)

2) “1 “03)


76


5.2.8.

I/OI/O

I/OI/O I/O


5.2.8.

•

•

•

77

5.2.9.

•


5.2.9.

123

4


78

6

6.1.6.2.6.3.6.4.6.5.6.6.6.7.

6.7.1.

6.7.2.

6.7.3.

6.7.4.

6.7.5.

6.7.6.


MainRoutine

DATA RoutineRoutine

Routine

DATA RoutineRoutine

Routine

DATA RoutineRoutine

Routine

DATA RoutineRoutine

Routine

DATA RoutineRoutine

Routine

DATA RoutineRoutine

Routine

DATA RoutineRoutine

Routine

DATA RoutineRoutine

----

EIO PROCMMC SIOMOC SYS

Flash Disk

hd0a:\

USB bd0:\USB USB:\

6.1.


79

6.2.

(Module)(Program Module) (System Module)

– (Program Module)

– (System Module)


6.1.

(Program)– (MainModule)

– (Program Module)

ABB USER BASE


80

6.1.

(System Module)–

–


ABB USER BASE

6.2.

Module

Module

Program

Module

(Program) (Module) (Routine)

…

…

Routine

Routine

Data

……

Data

Routine

Routine

Data

Data


……

……

……

81

6.2.

main


6.2.

(Program)

(MainModule)

main

Routine

(Data)

(Program Module)

Routine

(Data)

(System Module)

Routine

(Data)


82

6.3.

1 ABB

23

•

•

•


6.3.

4 pgf


83

6.3.

5


6.4.

1 ABB

23 / …


84

6.4.

4


6.4.

5 …


85

6.5.

1

2

3

4

5

6

7


6.6.

1

2 “

3


86

6.6.

4… PP Main

567© ABB Group


6.7. RAPID

1 •

2 •

3 •

4 •

5 •

6 •


87

6.7.1.

1 ABB

2 13 4


6.7.1.

1 ABB

2 2 (Program1 ) 5 8


88

6.7.1.

3•

•

•


6.7.1.

4 /


89

6.7.1.

5


6.7.1.

6 /


90

6.7.1.

7 /


6.7.1.

8 /


91

6.7.2.

1 ABB

2


6.7.2.

3 /


92

6.7.2.

4


6.7.3.

1 ABB

2


93

6.7.3.

3 /


6.7.3.

4


94

6.7.3.

5


6.7.4.

1 ABB

2


95

6.7.4.

3


6.7.4.

4 …


96

6.7.5.

1 ABB

2

3


6.7.5.

3 MoveL


97

6.7.5.

4 *


6.7.5.

5


98

6.7.6.

1)

2)


6.7.6.

123 /


99

6.7.6.

4 PP

PP ( )MP


PP Main Main

PP

PP

PP

6.7.6.

56

71


100

6.7.6.

723


6.7.6.

8 7

9

10 9

11

. .

.

.

.


101

7

7.1.7.1.1.

7.1.2.

7.1.3.

7.1.4.

7.1.5.

7.1.6.

7.1.7.

7.2.7.2.1.

7.2.2.

7.3.7.3.1. off( )

7.3.2.


MoveL p1, v100, z10, tPen;

L -

( TCP )

: tooldata

: mm

: zonedata

: mm/s

: speeddata

: robotarget

7.1.1.1. MoveL


102

7.1.1.1. MoveL


7.1.1.1. MoveL

1

2 MoveL


103

7.1.1.1. MoveL

3 *


7.1.1.1. MoveL

4


104

7.1.1.1. MoveL

5


7.1.1.1. MoveL

6


105

7.1.1.1. MoveL

7 3-6


MoveJ phome, v100, z10, tPen;

J -

( TCP )

: tooldata

: mm

: zonedata

: mm/s

: speeddata

: robotarget

7.1.1.2. MoveJ


106

7.1.1.2. MoveJ


7.1.1.3. MoveC

MoveC p1, p2, v100, z10, tPen;

C

( TCP )

: tooldata

: mm

:zonedata

: mm/s

: speeddata

:robotarget : robotarget


107

TCP Wobj

MoveAbsJ p1, v100, z10, tPen;

( TCP )

: tooldata

: mm

: zonedata

: mm/s

: speeddata

:jointtarget

7.1.1.4. MoveAbsJ


7.1.1.4. MoveAbsJ

1

2 MoveAbsJ


108

7.1.1.4. MoveAbsJ

3 * /


7.1.1.4. MoveAbsJ

4 6 0


109

7.1.2. :=

Data:=Value;Data ( All )

Value ( Sameas Data )

flag1:= FALSE; ( bool )

reg4 := reg1+reg3; ( num )

string1 := “ WELCOME ”; ( string )

pHome := p1; ( robotarget )p1.trans.x := p1.trans.x +20; ( num )


7.1.3.1. ProcCall

1

2 ProcCall


110

7.1.3.1. ProcCall

3


7.1.3.2. IF

IF <exp>THEN“Yes-part”

ENDIF

Type A

IF <exp> THEN

“Yes-part”

ELSE

“Not-part”

Type B

“Yes-part”

“Yes-part”

“Not-part”


111

7.1.3.2. IF

IF <exp1> THEN

“Yes-part 1”ELSEIF <exp2>THEN“Yes-part 2”

ELSE

“Not-part”

ENDIF

Type C1

“Yes-part 1”2

“Yes-part 2”

“Not-part”


7.1.3.2. IF

1

2 IF


112

7.1.3.2. IF

3 IF ELSEELSEIF IF


7.1.3.2. IF

4 <EXP>…


113

7.1.3.2. IF

5


7.1.3.2. IF

6


114

7.1.3.2. IF

7


7.1.3.2. IF

8 /


115

7.1.3.2. IF

9


7.1.3.2. IF

10 <SMT>


116

7.1.3.3. TEST

TEST reg1 ( )

CASE 1: 1

PATH 1; CASE 1

CASE 2: 2

PATH 2; CASE 2

……DEFAULT:

Error; CASE ,

ENDTEST DEFAULT


7.1.3.4. WHILE

reg1:=0;WHILE reg1< 5 DO reg1< 5

Square ENDWHILE

reg1:=reg1+1;ENDWHILE

WHILE ENDWHILE

WHILE


117

7.1.4.

DODI

•

– 1 ( High )

– 0 ( Low )

•


7.1.4.1. Set

Set do1;

do1( signaldo )

“ 1”


118

7.1.4.2. Reset

Reset do1;

do1( signaldo )

“ 0


7.1.4.3. PulseDO

PulseDOdo1;

do1( signaldo )

0.2 s

[\PLength] ( num )

0.001s-2000s


119

7.1.4.4. WaitDI

WaitDI di1, 1;di1( signaldi )

1( dionum )

[\MaxTime] ( num )

s

[\TimeFlag] ( bool )

TRUE FALSE© ABB GroupFebruary 21, 2013 | Slide 237

7.1.4.4. WaitDI

• [\MaxTime]

( Error Handler )

• [\MaxTime] [\TimeFlag]

FALSETRUE

WaitDI di1, 1 \MaxTime:=5\TimeFlag:=flag1 ;


120

7.1.5.1. ClkReset

ClkReset clock1;

clock1( clock )


7.1.5.2. ClkStart

ClkStart clock1;

clock1( clock )


121

7.1.5.3. ClkStop

ClkStop clock1;

clock1( clock )


7.1.6.1. TPErase

TPErase;


122

7.1.6.2. TPWrite

TPWrite string;

string( string )

“xxxxxx”


7.1.7.1. WaitTime

WaitTime 5;

5 s( num )


123

7.1.7.2. VelSet

VelSet 100, 5000;

100 % ( num )

5000 mm/s( num )

VelSet


7.1.7.3. AccSet

AccSet 100, 100;

100 % ( num )

100 % ( num )


124

7.1.7.4. GripLoad

GripLoad load0;

load0( num )


7.2.1


125

7.2.1


7.2.2

1

126

7.2.2

2

7.2.2

3

4


127

7.2.2

5


7.2.2

7 \


128

7.3.1 off( )

Offs(p1,100,50,0) p1X 100mm Y

50mm Z 0

Offs() Wobj

MoveL Offs(p1,100,50,0), v100,……


7.3.2

1


129

7.3.2

2offs()


7.3.2

3 offs()


130

7.3.2

4 offs() /X


7.3.2

5 offs() /Y

6 offs() /Z

7 off()


131

7.3.2

8




132

8

8.1.

8.2.

8.3.


8.1.

?

, Home .( I/O )

,.

133

8.1.

?

, Home .( I/O )

,.

8.2.

??

?

134

8.2.

,

,!

!

8.2.

ABB :

RobotWare// ,

135

8.2.

!

IRC5 !

8.2.

1 ABB

2 .

3 …


136

8.2.

4 ABC… …

ABB hd0a:/Backup/


8.3.

?

?

137

8.3.

ABB :

/ ,

, ,

Home HOME

8.3.

S4 IRC ..

138

8.2.

1 ABB

2 .

3 …


8.3.

4 …


139

9

9.1. IRC59.1.1.

9.1.2. B-

9.1.3. I-

9.1.4. P-

9.1.5. C-

9.1.6. X-

9.2.


9.1.

IRC5 ,

----

B- --

I- --P- -- RAPIDC- --X- --


140

9.1.1.

:

:•

•

•

•

•


9.1.2. B-

B- :

:


141

9.1.3. I-

I- :

:

,


9.1.4. P-

P- : RAPID

:

•

• ,

•

142

9.1.5. C-

C- :

:

•

•


9.1.6. X-

X- :

:

•

•

•


143

9.2.

1

2 … ,




144

10 RobotStudio Online

10.1. R.S.O.

10.2. R.S.O.

10.3. R.S.O. RAPID

10.4. R.S.O.

10.5. R.S.O.

10.6. R.S.O.


10.1. R.S.O.

RobotStudio

RobotStudio Online ( R.S.O.)FlexPendant RW5.11

RobotStudio RobotStudio

Robot Studio Online

RAPIDRAPID .RAPID ( )

/ ( system builder)

/

/ ( ), .


145

10.2. R.S.O

1IP


10.2. R.S.O

2 / / ABB Industrial IT / Robotic IT/Robot StudioRobotStudio

3 R.S.O


146

10.2. R.S.O

4 R.S.O / …


10.2. R.S.O

5 R.S.O


147

10.3. R.S.O RAPID

1 RAPID


10.3. R.S.O RAPID

2

3


148

10.3. R.S.O RAPID

5 R.S.O. RAPIDRAPID

R.S.O.


10.3. R.S.O RAPID

4 RAPID R.S.O


149

10.4. R.S.O.


10.4. R.S.O.

1 R.S.O

2


150

10.4. R.S.O.

3Next


10.4. R.S.O.

4 Next


151

10.4. R.S.O.

5Next


10.4. R.S.O.

6Next


152

10.4. R.S.O.

7 Next


10.4. R.S.O.

8Next


153

10.4. R.S.O.

9 HomeNext


10.4. R.S.O.

10 Finish


154

10.5. R.S.O.

1 R.S.O

2

3 Next© ABB GroupFebruary 21, 2013 | Slide 307

10.5. R.S.O.

4Next


155

10.5. R.S.O.

5 Next


10.5. R.S.O.

6 Finish Next


156

10.5. R.S.O.

7 RobotWare


10.5. R.S.O.

8


157

10.5. R.S.O.

9


10.5. R.S.O.

10


158

10.5. R.S.O.

11SYSPAR 6


10.5. R.S.O.

12 HOMEHOME


159

10.5. R.S.O.

13 Finish


10.6. R.S.O.

1 X-


160

10.6. R.S.O.

2 R.S.O. …


10.6. R.S.O.

34


161

10.6. R.S.O.

5 PC

6 Yes


10.6. R.S.O.

7


162

11

11.1.11.1.1.

11.1.2.

11.2.11.2.1.

11.2.2.

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11.2. –

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Rev. counter update needed.

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164

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,

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2 .

3

11.2.1


165

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5

6

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166

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11.2.2


167

11.2.2

5

absolute accuracy measurement system , Calib. files.absolute accuracy measurement system , Abs. Acc. files.


1 ABB .

23 ...

11.2.3


168

11.2.3

4

5




Documents

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