f Ï7- È § ò ² ; p/j Ö - 西门子中国 · 2014-05-14 · key words: cp1616 pn communication...

Siemens Ltd. China Industry sector Industry Product and System Sales Technical & Application Support /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


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


4

2.1.

120

:


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


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


1FT7

2.3.

CP1616 PN IRT

1. IPC LINUX

CNC Windows PC

LINUX

LINUX

LIXUN

PROFINET(100Mbps


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 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


$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


[ *]Symmetric multi-processing support ;( )OFF : On


[*] Interrupt pipeline

6).Kernel hacking ->

[ ] Compile the kernel with frame pointers,

depend on:

[ ] Latency measuring infrastructure

5.

$make

$make modules

$ make all

6.


$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


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.


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


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


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


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)


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


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


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.


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.


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"


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


PN CP1616


- Port1

:


( 10 )

S120

S120 SERVO DRIVE

S120 :


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

-


-

0


Trace S120

7.1.

CP1616 SINAMICS S120 16KW ALM ,1FT7


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








Shaft height 80 mm







Shaft height 80 mm




1 1FT7062-5AF70-1CB0 Synchronous servo motor (feed motor) 1FT/1FK; 1.76 kW;

Shaft height 48 mm



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


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.


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


.

8.1. IPC

CP1616

1.CP1616 PN IRT LINUX

IRT WINDOWS

IRT

RT

WINDOWS IRT IRT

LINUX

2.LINUX

LINUX

CP1616

IPC IRT


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


.

Manual_S120.pdf S120

PGH_IO-Base_76.pdf CP1616 PN

2004 )


1

1.1.

ABB FANUK KUKA

360 360


1.2.

2.2.1

(XYZ) (ABC)

2.2.2


360 Kw

160 KW

210 Kw

270 Kw

150 Kw

360 Kw

(Teach-in)

”(virtual Teach-in)

CAD


PC

Workspace5 RobotStudio

2.2.3

6

1.3.

1.3.1.


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


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


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)


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-


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.


——

——

——

{0} {1} {n}

——

POSE

Denavit-Hartenberg Matrix A1

A2

T1 i=1,2,…

3.14


n=6,

n—— 6T ox

o—— 6T oy

a—— 6T oz

p—— T6

3

3.25 3X3 9

3.26

),,( zyx ppp

6T

6T


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


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


oixi oiyi

i-1 i-1 i-1

{i} {i-1} {i-1} 3.19

di di

i=0


xo-yo-zo

T6

T6

T6

PUMA-560

3.22

D-H xo-yo-zo

o0 o1,o0 3.22b

… 6 a,h,d


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


PUMA-560

PUMA

3.23a

3.23b

3.24

05S

05S

PUMA 5=0


1.4.

1.

1.

2.

4-6

± 0.1mm

3.

4.


2.

(1)

RV

(2)


(3)

3. AGV

AGV

AGV

1.5.


RS232

1.6.

1.

(1) CPU

(2) (RC) (MC) I/O

(RC) (RC)

I/O

(2)

Linux


(3)

(4)

2.

32 64

CPU CPU

CPU

10

11

1 Ethernet PC

10/100Mbit/s PC windows TCP/IP


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


S0

S1

S2 ; S3 ;

S4 S5


2

CAD/CAM

3

Virtual Reality,VR

1.2.

1.2.1.

A B D

E

C


TPU

UserAuthorization System (UAS)

A

B

C

D

E

A

•

•

•

•

•

•

•

•

•

•

•

B

C


D

E

F " "

1

5

2

I/O I/O

3

4

5 Move


6

7 I/O

I/O

f Ï7- È § ò ² ; p/j Ö - 西门子中国 · 2014-05-14 · key words: cp1616 pn communication...

Documents