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Siemens Ltd. China Industry sector Industry Product and System Sales Technical & Application Support Page 1/63
................................................................................................................................................. 2
.............................................................................................................................. 2
2.1. ................................................................................................................................. 3
2.2. ................................................................................................................................ 5
2.3. ................................................................................................................................ 6
IPC LINUX .................................................................................................................. 8
3.1. IPC ....................................................................................................................... 8
3.2. LINUX ........................................................................................................................... 8
................................................................................................................. 11
CP1616 PN IRT CP1616 ............................................ 13
5.1. PROFINET IRT .................................................................................................................... 13
5.2. CP1616 PN .......................................................................................... 15
5.2.1. CP1616 PN ..................................................................................... 15 5.2.2. CP1616 PN IRT .................................................................. 16 5.2.3. CP1616 PN IRT C++ .......................................................... 20
5.3. CP1616 PN ............................................................................................................ 21
S120 ....................................................................................................................... 24
............................................................................................................. 27
7.1. ...................................................................................................................................... 27
7.2. ................................................................................................................................... 28
7.3. ................................................................................................................................... 30
. ................................................................................................................................. 32
8.1. IPC ................................................................................................................. 32
8.2. S120 .......................................................................................................................... 33
. ................................................................................................................................................. 33
. ................................................................................................................................................. 34
1 .......................................................... 35
1.1. ........................................................................................................................ 35
1.2. ............................................................................................................................... 36
1.3. ............................................. 38
1.3.1. ................................................................................................................................. 38 1.3.2. .......................................................................................................................... 39 1.3.3. .......................................................................................................................... 40 1.3.4. ........................................................................................................... 44
1.4. ............................................................................................................................ 53
1.5. ................................................................................................................. 55
1.6. ......................................................................................................... 56
2 ............................................................................................................................. 58
Siemens Ltd. China Industry sector Industry Product and System Sales Technical & Application Support Page 2/63
CP1616 PN S120
CP1616 PN communication card and S120 servo drive applications in 4 axis robot
)
CP1616 S120
PROFINET IRT S120 PID
CP1616 PN , IRT C++ PROFINET (IO),IRT(High performance) ,S120
Abstract: This paper introduces the application of CP1616 and S120 servo drive in 4
axis joint type robot, details of the control process requirements, robot PROFINET
communication function of IRT, S120 servo drive debug settings and position closed
loop PID algorithm analysis.
Key Words: CP1616 PN communication card, IRT, C++ library, PROFINET (IO), IRT
(High performance), S120 servo drive, joint robot, coordinate inverse calculation,
position closed loop algorithm.
CCD
4
4
B\C 6
Siemens Ltd. China Industry sector Industry Product and System Sales Technical & Application Support Page 3/63
4
2.1.
120
:
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1.
2.
60KG 2190
120KG 2040
3. : 120KG
4. 2.4M
5. 4
6. 0.2MM; 0.11MM;
7.
Working range Velocity
Axis 1 Rotation +165 250 °/s° to -165 ° 145 °/s
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Axis 2 Arm +85° to -40 ° 110 °/s
Axis 3 Arm +120° to -20 ° 120 °/s
Axis 4 Wrist +300° to -300 ° 400 °/s
2.2.
SIMOTION
IPC IPC
IPC LINUX
SIEMENS S120 CP1616 PN
IRT S120
S120 CU320-2PN
PROFINET IRT SIEMENS
Siemens Ltd. China Industry sector Industry Product and System Sales Technical & Application Support Page 6/63
1FT7
2.3.
CP1616 PN IRT
1. IPC LINUX
CNC Windows PC
LINUX
LINUX
LIXUN
PROFINET(100Mbps
Siemens Ltd. China Industry sector Industry Product and System Sales Technical & Application Support Page 7/63
PROFINET Ethernet ProfiBus DeviceNet
2.
CNC
X,Y,Z,Pitch,Yaw,Roll
(Transfomer)
3.
4.
CPU
5. CP1616 PN PROFINET IRT
S= V* t
S-
V-
t-
t-
PROFINET 100Mbps
0.1uS, 1uS
6. S120
Siemens Ltd. China Industry sector Industry Product and System Sales Technical & Application Support Page 8/63
SIEMENS S120
1FT7
IPC LINUX
3.1. IPC
Intel Celeron 847/807UE/, 1.1 GHz/1.0 GHz
2 x RS-232 2 x RS-232/422/485
4 x 10/100/1000Base-T
DVI-I, DP, HDMI
Mic in, Line in, Line out
6 x USB 2.0
2 x PCI-104
Windows® WES 2009, WES 7
CFast
LED
Power eSATA
IP40
3.2. LINUX
IRT CP1616
IRT LINUX LINUX
LINUX
4.2.1 linux
fedora 14 fedora15 centos 6.4
4.2.2
1. RTAI linux
rtai-3.9.1.tar.bz2 www.rtai.org
Siemens Ltd. China Industry sector Industry Product and System Sales Technical & Application Support Page 9/63
$tar -xvjf rtai-3.9.1.tar.bz2
rtai-3.9.1/base/arch/x86/patches
RTAI
linux linux-2.6.38.8.tar.xz www.kernel.org
$tar -xvJf linux-2.6.38.8.tar.xz
2.
$patch –p1 –i ../rtai-3.8/base/arch/x86/patches/hal-linux-2.6.38.8-x86-2.11-
02.patch
3.
$cat /proc/config.gz | gunzip > linux-2.6.38.8/.config
$cp /boot/config-XX linux-2.6.38.8/.config
$make oldconfig
4.
$ cd linux-2.6.38.8
$ make menuconfig
1).Enable Loadable module support ->
[ ]Module versioning support
2).Processor type and features ->
Processor family(Pentium-Classic) ;
Select the processor family closest to your
processor,Pentium Classic normally works with newer Intel
processors, If you have a multicore processor, do not select a
processor family that does not support TSC!
3).Processor type and features -->
[ ]Generic x86 support
4).Processor type and features ->
[ *]Symmetric multi-processing support ;( )OFF : On
5).Processor type and features ->
[*] Interrupt pipeline
6).Kernel hacking ->
[ ] Compile the kernel with frame pointers,
depend on:
[ ] Latency measuring infrastructure
5.
$make
$make modules
$ make all
6.
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$su
#make modules_install
7.
#make install
8.
grub linux-2.6.38.8
9. RTAI
1)
$make menuconfig
General ---> (/usr/realtime) Installation directory
(/home/wu/linux-2.6.38.8) Linux source tree
Machine (x86) --> (4) Number of CPUs (SMP-only)
cat /proc/cpuinfo
2)
exit
3) RTAI
$make
4)
$su
#make install
RTAL //usr/realtime/
5)
“/usr/realtime/testsuite/user/latency/run
10. CP16XX
1)
$unzip DK16xx_V2p5p2.zip
$cd V2.5.2/DK16xx/linux-sw/
$tar –xzf host-2.5.2.0.39.tar.gz
2)
$cd host_linx
3)
$export RTAI=y
4) cp16XX
$make
5)
$su
#make install
6)
I
#make load
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II
#cp V2.5.2/DK16xx/linux-sw/host_linx/driver/linux/cp16xxloader /etc/init.d/
#cd /etc/rc3.d/
#ln -s ../init.d/ cp16xxloader S98cp16xxload
#ln -s ../init.d/ cp16xxloader K02cp16xxunload
7)
#make test
8)
#cd V2.5.2/DK16xx/linu-sw/host_linx/examples/easy/
pnioeasy_irt1
#./pnioeasy_irt1
IRT
1.
t t0,t1,t2,t3,t4
2.
Siemens Ltd. China Industry sector Industry Product and System Sales Technical & Application Support Page 12/63
1ms
CPU
CP1616
IRT
3. PID
1
, ,
PID
2 PID
PID , ,
, , PID ,
,
r(n) c(t) e(t)=r(n)-c(t),
(P) (I) (D) , , PID
S 4 S0,S1 S2
S3 S’ 4 S’0,S’1 S’2 S’3
PID
5
MATLAB/Simulink
Siemens Ltd. China Industry sector Industry Product and System Sales Technical & Application Support Page 13/63
CP1616 PN IRT CP1616
5.1. PROFINET IRT
PROFINET IRT
PROFINET IO IRT IRT
IRT High flexibility IRT High performance
IRT High performance
PROFINET IO RT
PROFINET IO IRT
IRT IRT High flexibility
IRT Top performance IRT High flexibility
IRT High flexibility
1. I/O
2. I/O
3. TCP/IP
PROFINET (IRT)
PROFINET IO 1
PROFINET IO
I/O (T1)
ET 200 T2 T6
PROFINET IO T3 T5
Siemens Ltd. China Industry sector Industry Product and System Sales Technical & Application Support Page 14/63
CPU (T4)
I/O (T7)
T2 T6
OB35
I/O
PROFINET “Isochronous mode”
SIMATIC SIMATIC
“Isochronous mode” SIMATIC
PROFINET IRT
IRT
I/O OB OB61 OB64 IRT
TDC
IRT
I/O Ti
IRT PN Ti
STEP 7
PROFINET PN IO OB OB61
OB62 OB63 OB64 OB
IRT IRT STEP 7
IRT To
PN IO
“Ti + TDC + To” “Ti + (2 x TDC) + To”
2
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Step7 Ti To
PROFINET IO I / O
IO
IRT high performance
PROFINET IRT High performance
http://www.ad.siemens.com.cn/download/searchResult.aspx?searchText=A0517 IO IO FAQ:
http://support.automation.siemens.com/CN/view/zh/44383954
5.2. CP1616 PN
5.2.1. CP1616 PN
1.1 SIEMENS LINUX
http://support.automation.siemens.com/WW/llisapi.dll?func=cslib.csinfo&lang=en&siteid=csius&aktprim=0&extranet=standard&viewreg=WW&objid=18900746&treeLang=en
1.2
DK16xx_V2p5p2
Product version Changes/additionally supported functions V2.5.2 New properties:
STEP 7 V 5.5 incl. SP V5.5.1.1 is required for this. Improved interrupt processing (maintenance alarms)
Siemens Ltd. China Industry sector Industry Product and System Sales Technical & Application Support Page 16/63
Name of the document Why you should read it
Readme file • for CD "SIMATIC
NET, PC Software" • for CD "DK-16xx PN IO"
Here, you will find the latest information on the SIMATIC NET PC
software products. WINDOW OSSIMATIC NET STEP7 PROFESSIONAL
Installation Manual for
CD "SIMATIC NET, PC Software"
You are guided step by step through the installation of the SIMATIC
NET products on a PC (SOFTNET PN IO only).
PC Manual
Commissioning PC Stations
This provides you with the information you require for
commissioning and configuring a PC as a PROFINET IO controller.
Manual IO-Base user programming interface
The reference manual when you create an IO-Base controller or IO-Base device user program. PROFINET IO-Base user programming interface Programming Manual
Manual Industrial Communication with PG/PC
This manual introduces you to industrial communication and explains the available communications protocols.
We recommend that you have the following experience as a programmer of user programs: Experience of programming in C/C++ C/C++ Programming techniques:
– Multithreading techniques – Callback routines
Knowledge of the technical terminology in English Knowledge of the PROFINET IO system PROFINET IO General experience in the area of automation engineering Basic experience with the STEP 7 or NCM PC configuration software STEP 7 or NCM PC
5.2.2. CP1616 PN IRT
CP1616 (RT) (IRT) (IRT)
In isochronous real-time mode, the IRT user program processes and writes die IRT data between two cyclically repeated IRT times:
IRT transfer end IRT transfer start
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IO-Base IO
Overview of the IO-Base user programming interface for IO controllers Isochronous real-time and non-isochronous access to cyclic IO data (IRT)
IRT IRT PNIO_CP_CBE_STARTOP_IND DMA
As soon as the IRT transfer end is reached, the IRT input data is transferred from the process image memory to the host memory by DMA and the IRT user program is informed by the PNIO_CP_CBE_STARTOP_IND callback event. As of this point in time, all IRT data is in the host memory and processing of the data can begin. The first PNIO_CP_CBE_STARTOP_IND callback events are signaled after the PNIO_CP_register_cbf( ) function call.
IRT PNIO_CP_set_opdone( ) COPYDMA
Once the IRT user program has completed processing the data, it calls the PNIO_CP_set_opdone( ) function. This copies the IRT output data to the process image memory using DMA and informs the communications processor of the validity of the data, so that the data can be transferred in the next bus cycle. IRT
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Violation of isochronous real-time mode PGH_IO-Base_76
30 If completion of the processing of the IRT data is signaled too late, the DMA transfer cannot be completed in time and the IRT output data cannot be marked as valid. As a result, the communications processor transfers the IRT data as invalid in the next bus cycle. The user program is informed of this with the PNIO_CP_CBE_OPFAULT_IND callback event.
Consistency of the isochronous real-time IO data (IRT data) To give the user program more time to process the data, IRT data is transferred between host memory and process image memory by DMA. As a result, IRT data is consistent only between the IRT transfer end and the IRT transfer start. This means that your user program can only access consistent IRT data between the PNIO_CP_CBE_STARTOP_IND callback event and PNIO_CP_set_opdone( ). When the PNIO_CP_CBE_OPFAULT_IND callback event arrives, the data is no longer consistent. This situation remains until the next PNIO_CP_CBE_STARTOP_IND callback event.
IRT Access to IRT data Isochronous real-time access to the IRT data If IRT data is accessed between the PNIO_CP_CBE_STARTOP_IND callback event and PNIO_CP_set_opdone( ), this is known as isochronous real-time access to the IRT data. The functions for accessing IRT data are the same as for access to non-isochronous real-time cyclic RT data.
Non-isochronous real-time access to the IRT data If IRT data is accessed outside the PNIO_CP_CBE_STARTOP_IND callback event and PNIO_CP_set_opdone( ), this is known as asynchronous access to the IRT data. Such access returns inconsistent data and this is indicated by the PNIO_WARN_IRT_INCONSISTENT warning as return value.
Identifying which data is IRT data To allow your IO controller user program to identify the logical addresses that reference IRT data, you can use the PNIO_ctrl_diag_req( ) function with the PNIO_CTRL_DIAG_CONFIG_SUBMODULE_LIST diagnostics service.
Isochronous real-time data and access functions optimized for speed If your IO controller user program uses access functions that are optimized for speed to access the IRT data, these accesses are forwarded to the uncached function. This makes the access functions optimized for speed for RT data transparent for IRT data. You can therefore use the speed-optimized access functions in your isochronous real-time processing routine to access both IRT data and RT data without having to make a distinction. To maintain performance, you should only access IRT data in the isochronous real-time processing routine.
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The PNIO_data_read_cache_refresh( ) and PNIO_data_write_cache_flush( ) functions affect only RT data and not IRT data.
Addressing PROFINET IO devices
Address space In a PROFINET IO system, there is an address space for read access and one for write access that are common to all devices. Both are specified in the configuration.
Overview of the IO-Base user programming interface for IO controllers 3.8 Callback mechanism Refer to the configuration for the addresses of the slots of the devices and modules (module or submodule) with which your IO-Base controller user program communicates.
Callback mechanism
How it works Callback functions are programmed in the IO-Base controller user program. A callback function can be given any name. A callback event is an asynchronous event that is called by the IO-Base interface. It interrupts the execution of the IO-Base controller user program and starts the callback function in a separate thread. This means that synchronization techniques are necessary. Each callback event is accompanied by a callback type. The callback event type defines the callback event.
Callback functions on the IO controller The callback events and event types on the IO controller are listed in the following table. The table also shows what to use to register a callback function and what triggers a callback event:
Note Include multithreading standard libraries when you compile your user program.
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Note Within a callback function, the only functions that can be called are those that access IO data. These are:
PNIO_data_read( ) PNIO_output_data_read( ) PNIO_data_read_cache( ) PNIO_data_read_cache_refresh( ) PNIO_data_write( ) PNIO_data_write_cache( ) PNIO_data_write_cache_flush( ) PNIO_CP_set_opdone( )
5.2.3. CP1616 PN IRT C++
DK16xx_V2p5p2 pnioeasy
pnioeasy_irt1 pnioeasy1 pnioeasy1_load_proj pnioeasy2 pnioeasy2_load_fw pnioeasy3 pnioeasy4
1. IRT LINUX
2. #ifdef WIN32
3. #include <windows.h>
4. #include <stdio.h>
5. #include <conio.h>
6. #include <time.h>
7. #include <sys/timeb.h>
8. #define CRLF "\n"
9.
10. #else 11. #include <stdio.h> 12. #include <unistd.h> 13. #include <stdlib.h> 14. #include <poll.h> 15. #include <termios.h> 16. #include <string.h> 17. #include <time.h> 18. #include <sys/timeb.h> 19. #define Sleep(x) usleep(x*1000) 20. #define CRLF "\r\n"
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21. #endif 22. 23. 24. #include "pniousrx.h" 25. #include "pnioerrx.h" 26.
27. RT WINDOWS
#ifdef WIN32
#include <windows.h>
#include <stdio.h>
#include <conio.h>
#define CRLF "\n"
#else
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <poll.h>
#include <termios.h>
#include <string.h>
#define CRLF "\r\n"
#define Sleep(x) usleep(x*1000)
#endif
#include "pniousrx.h"
#include "pnioerrx.h"
#include "pniobase.h"
RT
LINUX IRT
5.3. CP1616 PN
WINDOWS LINUX IPC
STEP7 V5.5 START V4.3 CP1616
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PN CP1616
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- Port1
:
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( 10 )
S120
S120 SERVO DRIVE
S120 :
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1 S120_CU320_2_DP -> Drives -> SERVO_03 ->Control logic: p840 [0]
= r2090.0 (PZD1)
2 S120_CU320_2_DP -> Drives -> SERVO_03 ->Setpoint channel->
Speed Setpoint-> Main setpoint:r8860 [1] (PZD2+3) -> … -> Enable setpoint = 1
S120_CU320_2_DP -> Drives -> SERVO_03 ->Technology -> Basic
positioned->Homing-> Homing Active
3 S120_CU320_2_DP -> Drives -> SERVO_03 ->Brake control:[1]
4 S120_CU320_2_DP ->Target Device -> copy RAM TO ROM
-> Load CPU … to PG
5 project -> achieve… ( )
6
1 p2580 p2581 p2582 1.
2 p0010 3 p1821 0 1
p0010 0.
3 p1082
p1080
4 p2593:p2524 100000 LU
5 p1216
p1217
7e 14->7f 14
S120 Tracking mode
“position control”
p1160 P1160=R2562
(p2550 = 0) tracking mode
P2655.0 P2655.1 tracking mode r2683.0 tracking
mode (P2550=0) tracking mode(p2655 = 1
PROFIdrive 111 PosSTW2.0 = 1)
=
PLC S120 111 P2655.0 r2092.0
-
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-
0
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Trace S120
7.1.
CP1616 SINAMICS S120 16KW ALM ,1FT7
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4
7.2.
Quantity Order No. Product
Drive system 1FT7 / Supply system, S120 stand-alone
1 6SL3040-1MA00-0AA0 Control Unit CU320-2 DP
1 6SL3054-0EF01-1BA0 CompactFlash Card; Performance extension 1
1 6SL3060-4AH00-0AA0 DRIVE-CLiQ cable; DRIVE-CLiQ cable (in fixed lengths)
IP20/IP20 (fixed mounting); 0.26 m
2 6SL3060-4AK00-0AA0 DRIVE-CLiQ cable; DRIVE-CLiQ cable (in fixed lengths)
IP20/IP20 (fixed mounting); 0.31 m
1 6SL3162-2AA00-0AA0 24 V terminal adapter
1 6EP1334-3BA00 SITOP modular 10.00 A
Drive system 1FT7 / Supply system
1 6SL3130-7TE21-6AA3 Active Line Module; 16.00 kW
2 6SL3120-2TE21-0AA3 Double Motor Module; 9.00 A
for the following axes:
Axis + Axis
1 6SL3100-0BE21-6AB0 Active Interface Module
Axis / Drive system 1FT7 / Supply system
1 6FX8002-5DS01-1BA0 Motor supply cable; MOTION CONNECT 800 with brake cable
(trailing-type); 10.0 m
1 6FX8002-2DC10-1BA0 DRIVE-CLiQ cable; DRIVE-CLiQ cable MOTION CONNECT 800
IP20/IP67 (trailing-type); 10.00 m
1 1FT7086-5AC70-1CB0 Synchronous servo motor (feed motor) 1FT/1FK; 4.71 kW;
Shaft height 80 mm
Axis / Drive system 1FT7 / Supply system
1 6FX8002-5DS01-1BA0 Motor supply cable; MOTION CONNECT 800 with brake cable
(trailing-type); 10.0 m
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1 6FX8002-2DC10-1BA0 DRIVE-CLiQ cable; DRIVE-CLiQ cable MOTION CONNECT 800
IP20/IP67 (trailing-type); 10.00 m
1 1FT7086-5AC70-1CB0 Synchronous servo motor (feed motor) 1FT/1FK; 4.71 kW;
Shaft height 80 mm
Axis / Drive system 1FT7 / Supply system
1 6FX8002-5DS01-1BA0 Motor supply cable; MOTION CONNECT 800 with brake cable
(trailing-type); 10.0 m
1 6FX8002-2DC10-1BA0 DRIVE-CLiQ cable; DRIVE-CLiQ cable MOTION CONNECT 800
IP20/IP67 (trailing-type); 10.00 m
1 1FT7086-5AC70-1CB0 Synchronous servo motor (feed motor) 1FT/1FK; 4.71 kW;
Shaft height 80 mm
Axis / Drive system 1FT7 / Supply system
1 6FX8002-5DS01-1BA0 Motor supply cable; MOTION CONNECT 800 with brake cable
(trailing-type); 10.0 m
1 1FT7062-5AF70-1CB0 Synchronous servo motor (feed motor) 1FT/1FK; 1.76 kW;
Shaft height 48 mm
1 6FX8002-2DC10-1BA0 DRIVE-CLiQ cable; DRIVE-CLiQ cable MOTION CONNECT 800
IP20/IP67 (trailing-type); 10.00 m
PN NET System
1 6SL3055-0AA00-2EB0 CBE20 Communication Board
1 6GK1 161-6AA01
CP 1616 CP 1616
communication processor
6GK1 161-6AA01
PCI Card (32 bit; 3.3/5 V universal
keyed) with ASIC ERTEC 400 for
connecting PCs to PROFINET IO
with 4-P
1 6GK1 901-1BB10-2AA0 180° cable outlet
1 6GK1 901-1BB20-2AA0 90° cable outlet
20 6XV1 840-2AH10
IE FC TP Standard Cable GP 2 x 2
(Type A)
4-core, shielded TP installation
cable for connection to IE
FC Outlet RJ45/ IE FC RJ45 Plug;
PROFINET-compatible;
with UL approval;
Sold by the meter
IPC
Siemens Ltd. China Industry sector Industry Product and System Sales Technical & Application Support Page 30/63
7.3.
A.
TS4885N 5KW 22.5Nm 2000
/M TST833N, 1.6KW 5.09Nm
3000 /M;
1.
2.
3.
4.
10%
5. IP65 IP67
1FT7 4 M0
1FT7086-5AC70-1FB0
Mrated=18Nm M0=28Nm Momentofinertiaofrotor=63.6*104-kgm
2nrated=2000rpm
1FT7062-5AF70-1CB0
Mrated=5.4Nm M0=6Nm Momentofinertiaofrotor=7.36*104-kgm
2nrated=3000rpm
B.
120
:
1.
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60KG 2190
120KG 2040
2. : 120KG
3. 2.4M
4. 4
5. 0.2MM; 0.11MM;
6.
Working range Velocity
Axis 1 Rotation +165 250 °/s° to -165 ° 145 °/s
Axis 2 Arm +85° to -40 ° 110 °/s
Axis 3 Arm +120° to -20 ° 120 °/s
Axis 4 Wrist +300° to -300 ° 400 °/s
C.
SimotionD
Siemens Ltd. China Industry sector Industry Product and System Sales Technical & Application Support Page 32/63
.
8.1. IPC
CP1616
1.CP1616 PN IRT LINUX
IRT WINDOWS
IRT
RT
WINDOWS IRT IRT
LINUX
2.LINUX
LINUX
CP1616
IPC IRT
Siemens Ltd. China Industry sector Industry Product and System Sales Technical & Application Support Page 33/63
IPC LINUX IRT
LINUX
8.2. S120
1. IPC
IPC, CP1616
S120
r480
r2521,
2.
3.
trace
4.
5.
.
S120 CP1616 TIA
PN IPC IPC CP1616
Siemens Ltd. China Industry sector Industry Product and System Sales Technical & Application Support Page 34/63
.
Manual_S120.pdf S120
PGH_IO-Base_76.pdf CP1616 PN
2004 )
Siemens Ltd. China Industry sector Industry Product and System Sales Technical & Application Support Page 35/63
1
1.1.
ABB FANUK KUKA
360 360
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1.2.
2.2.1
(XYZ) (ABC)
2.2.2
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360 Kw
160 KW
210 Kw
270 Kw
150 Kw
360 Kw
(Teach-in)
”(virtual Teach-in)
CAD
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PC
Workspace5 RobotStudio
2.2.3
6
1.3.
1.3.1.
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1955 Denavit R.S.Harterberg D-H
D-H 4×4
D-H
1.3.2.
1.
)4,3,2,1( xxxx
41
xxx ;
42
xxy ;
43
xxz
ax1,ax2,ax3,ax4
x4
x4
x4 ,x4=0
ox
oy,oz
2.
ckbjaiv
i,j,k—— ox,oy,oz
Twzyx ),,,( 1w
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kji 553 T)1,5,4,3(T)2,10,8,6( T)10,40,40,30( …… x4=1
T)1,0,0,0( x4=0 Txxx )0,3,2,2(
1.3.3.
1.
3.1
222 zyx 111 zyx o1 z1 d1
'1o z1 z1 x2 h2 2o x2
12a 222 zyx
3.2 iii zyx jjj zyx
z1
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i —op iii zyx
j —op jjj zyx
][ ij i
3.5 iiii zyxo Tiiii zyxo )( 4321
jjjj zyxo Tjjjj zyxo )( 4321
oi zi di 'oi zi
xi hi jo xj 3.5
jijjii Roo ][ (3.10)
ijiiji Roo ][ (3.11)
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T371-4(
Trans(px,py,pz)—— T
zyx ppp ],,[
Rot (k, )——
T-1
X=TC T-1X=T-1TC=IC=C
I=T-1T
p,n,o,a——T
“.”——
T 1T = 1T T=I
3.12
Z- 6T -E B-
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Z 6T E=BG 3.21
3.13a
6T
1E 1Z
-1-16 BGEZ=T 3.22
-16EGZTB (3.23)
3.13b
1.3.4.
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——
——
——
{0} {1} {n}
——
POSE
Denavit-Hartenberg Matrix A1
A2
T1 i=1,2,…
3.14
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n=6,
n—— 6T ox
o—— 6T oy
a—— 6T oz
p—— T6
3
3.25 3X3 9
3.26
),,( zyx ppp
6T
6T
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Euler
6T 3.14 000 zyax3.15 zyax 00
oxyz oxy ab
oyo ab 000 zyax oxyz
3.17a
ai
ai=0
ao=an=0
ai ai i=0
i-1
i+1 i+1
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3.17
qi
qi i-1 ai
ai-1 di
di
ai i-1 ai-1
ai-1
ai ei
di ai ai-1 i
di di
3.18 d3,d4,d5
2) ——A
Denavit-Hartenberg Matrix
{i} i+1 {i}
3.19 {i} y,o, x,z, i+1
i+1 oizi i+1 ei+1
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oixi oiyi
i-1 i-1 i-1
{i} {i-1} {i-1} 3.19
di di
i=0
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xo-yo-zo
T6
T6
T6
PUMA-560
3.22
D-H xo-yo-zo
o0 o1,o0 3.22b
… 6 a,h,d
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3.24
3~6
PUMA
A1-1 A2-1 A3-1 3.24
12
PUMA-560
PUMA-560
[A1]
px,py,pz; nx,ny,nz
o6
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PUMA-560
PUMA
3.23a
3.23b
3.24
05S
05S
PUMA 5=0
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1.4.
1.
1.
2.
4-6
± 0.1mm
3.
4.
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2.
(1)
RV
(2)
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(3)
3. AGV
AGV
AGV
1.5.
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RS232
1.6.
1.
(1) CPU
(2) (RC) (MC) I/O
(RC) (RC)
I/O
(2)
Linux
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(3)
(4)
2.
32 64
CPU CPU
CPU
10
11
1 Ethernet PC
10/100Mbit/s PC windows TCP/IP
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Ethernet
2 Fieldbus PROFIBUS-DP PROFINET
2
1.
ABB Robotics FANUC Yaskawa
KUKA Roboter Adept Technology AmericanRobot Emerson Industrial
Automation COMAU ABB FANUC KUKA
1.1.
1
teaching playback , ,
, ,
, , ,
(Joint Coordinates) (Rectangular Coordinates) ( Tool Coordinates)
(User Coordinates) iii
iv
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S0
S1
S2 ; S3 ;
S4 S5
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2
CAD/CAM
3
Virtual Reality,VR
1.2.
1.2.1.
A B D
E
C
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TPU
UserAuthorization System (UAS)
A
B
C
D
E
A
•
•
•
•
•
•
•
•
•
•
•
B
C
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D
E
F " "
1
5
2
I/O I/O
3
4
5 Move
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6
7 I/O
I/O