Body Shop CP3.2
DOKUMENTATION
PLG
ARG5
STATION: 2-3
AFO: 3050
Roboter/robot: Rob. C
Funkition;Punktschweissen
1E 182077
NET IP : 167.139.006.065
NET SUB : 255.255.000.000
KR2210_2 S C2 FLR ZH210
Robot Serial Number: 914926
Controler Serial Number: 69958
Body Shop CP3.2
Inhaltsverzeichnis/Table of Contents
1) 0 – Punkt / Homeposition ........................................................................................................ 4 2) Mastering Position .................................................................................................................. 5 3) Wartungsposition / Maintenance Position ............................................................................... 6 4) Werkzeugwechselposition / Tool change position ................................................................... 7 5) Werkzeugliste / Tool list .......................................................................................................... 8 6) Werkzeugdaten / Tool data ...................................................................................................... 9 7) Werkzeuglastdaten / Tool Payload data ................................................................................... 9 8) Systemdateien / System File ................................................................................................. 10 9) Konfiguration Automatik Extern ........................................................................................... 13
Automatik Extern ............................................................................................................. 13
Software Endschalter ....................................................................................................... 13
Drehmomente................................................................................................................... 13
VERR ............................................................................................................................... 13 10) Konfiguration Interbus / Config Interbus .............................................................................. 14 11) Konfiguration IOSYS / Config IOSYS ................................................................................. 16 12) Konfiguration Greifer / Gonfig Gripper ................................................................................ 24 13) Konfiguration Binaerausgabe / Config Binary ...................................................................... 25 14) Signalaustausch zwischen Roboter und SPS / Signal exchange between robot and PLC ..... 26 15) Langtexte Eingaenge / Long texts Input................................................................................ 30 16) Langtexte Ausgaenge / Long texts Outputs ........................................................................... 36 17) Langtexte Merker Flag Timer Zaehler / Long texts Merker Flag Timer Counter ................. 42
Merker.............................................................................................................................. 42
FLAGS ............................................................................................................................. 42
TIMER ............................................................................................................................. 46
ZÄHLER.......................................................................................................................... 46 18) Folgen.................................................................................................................................... 47
FOLGE1 PS AFO3050 ................................................................................................. 47
FOLGE7 Startfraesen.................................................................................................... 47
FOLGE8 Wartungposition ............................................................................................ 48 19) UP’s ....................................................................................................................................... 49
UP1 Kappenfraesen ...................................................................................................... 49
UP8 Wartungposition .................................................................................................... 50
UP9 Referenzposition ................................................................................................... 51
UP10 Werkzeugwechsel ............................................................................................... 51 20) Makros .................................................................................................................................. 64
MAKRO54 Fraesen Zange1 ......................................................................................... 64
MAKRO57 UMDR.Zaehl 1.Fraeser ............................................................................. 65
\MAKRo71 Verriegel . 1 EA22 .................................................................................... 66
MAKRO72 Verriegel .2 EA23 ...................................................................................... 66
MAKRO73 Verriegel .3 EA24 ...................................................................................... 67
MAKRO74 Verriegel .4 EA25 ...................................................................................... 67
MAKRO75 Verriegel .5 EA26 ...................................................................................... 67
MAKRO76 Verriegel .6 EA27 ...................................................................................... 68
MAKRO77 Verriegel .7/8 EA28 ................................................................................... 68
MAKRO80 Halt bei Punkt............................................................................................ 69
MAKRO81 Profilfrei Anlage Ein ................................................................................. 69
MAKRO82 Freigabe Verriegelungen Roboter.............................................................. 69
MAKRO86 Arbeitsende 1 ............................................................................................ 69
MAKRO95 MASCHINELLE SICHERHEIT .............................................................. 70
MAKRO96 Warte Bis Grundstellung ........................................................................... 70
Projekt: Model K, Body Shop CP3.2
Anlage/Equipment: AFO3050, PLG Roboter/Robot: Rob.C
MAKRO99 Alle Ausgaben Aus A19 Bis A968 ............................................................ 70
MAKRO102 Fase 1U2 Reset........................................................................................ 71
MAKRO121 Auswert Quit Leitr .................................................................................. 72
MAKRO122 Quit Leitr Fase332 .................................................................................. 72
MAKRO200 Kappenfraesen ......................................................................................... 72
MAKRO201 Fraesen Zange1 ....................................................................................... 73
MAKRO204 UMDR.Zaehl1.Fraesen ........................................................................... 74
MAKRO207 1.Fraeser Motorstrom Einst ..................................................................... 74
MAKRO210 SPZ 1 Arbeit Shubzu ............................................................................... 74
MAKRO211 SPZ1 Arbeit Shub AUF ........................................................................... 75
MAKRO212 SZ1 Vorhubzu.......................................................................................... 75
MAKRO213 SZ1 Vorhub AUF ..................................................................................... 75
MAKRO214 Provisorium SPSSPZ1 ............................................................................ 76
MAKRO215 Kraft Vorwahl .......................................................................................... 77
MAKRO216 Kraftmessen ............................................................................................ 77
MAKRO220 Kappenfraesen SPZ ................................................................................. 78
MAKRO221 Fraesen SPZ1 .......................................................................................... 78
MAKROSPS .................................................................................................................... 79
21) Verriegelung / interlock ......................................................................................................... 81
22) CMD (optische Diagnose) / CMD (optical diagnostic) ......................................................... 82
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Projekt: Model K, Body Shop CP3.2
Anlage/Equipment: AFO3050, PLG Roboter/Robot: Rob.C
1) 0 – Punkt / Homeposition
0-Punkt / HOME POSITION
零-位
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Projekt: Model K, Body Shop CP3.2
Anlage/Equipment: AFO3050, PLG Roboter/Robot: Rob.C
2) Mastering Position
校对位置
Achsen A1=0.0 ； A2=-90.0 ； A3=90.0 ； A4=180.0 ； A5=0.0 ； A6=0.0
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Projekt: Model K, Body Shop CP3.2
Anlage/Equipment: AFO3050, PLG Roboter/Robot: Rob.C
3) Wartungsposition / Maintenance Position
维修位置
X 993.89, Y -818.9638, Z 419.2473, A 141.2362, B -87.41079, C -48.40332, S 2, T 10 , E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0
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Projekt: Model K, Body Shop CP3.2
Anlage/Equipment: AFO3050, PLG Roboter/Robot: Rob.C
4) Werkzeugwechselposition / Tool change position
工具更换位置
X 1517.889, Y 2057.667, Z 1267.521, A -128.8202, B 8.354953, C -0.5329393, S 6, T 27 , E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0
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Projekt: Model K, Body Shop CP3.2
Anlage/Equipment: AFO3050, PLG Roboter/Robot: Rob.C
5) Werkzeugliste / Tool list
工具坐标点
TCP 1
1111
WERKZEUG : 1 TOOLTYPE : #BASE TOOLVEKTOR [mm/?] : Schweisszange X: 4408.64 Y: -646.21 Z: -1359.93 A: 88.42 B: -0.62 C: 77.85
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Projekt: Model K, Body Shop CP3.2
Anlage/Equipment: AFO3050, PLG Roboter/Robot: Rob.C
6) Werkzeugdaten / Tool data
M 107.440002, CM X -114.739998, Y -2.95000005, Z 163.029999, A 28.3619995, B 1.13300002, C -93.314003, J X 5.0, Y 11.4499998, Z 23.7099991
7) Werkzeuglastdaten / Tool Payload data
TOOL 1 T1_Zange X=-.7 Y= 0 Z= 1027.09 A= 0 B= 90 C= 0 Load M= 107.44 JX= 5 JY= 11.45 JZ= 23.71 X=-114.74 Y=-2.95 Z= 163.03 A= 28.362 B= 1.133 C=-93.314
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Projekt: Model K, Body Shop CP3.2
Anlage/Equipment: AFO3050, PLG Roboter/Robot: Rob.C
8) Systemdateien / System File
ANZAHL DER ACHSEN DES ROBOTERSYSTEMS $NUM_AX : 6 ACHSKOPPLUNGSFAKTOR $COUP_COMP[4,5] : {N 23,D 4550} $COUP_COMP[4,6] : {N 9176,D 853125} $COUP_COMP[5,6] : {N 496,D 37125} MECHANISCH - MATHEMATISCH NULL [?] $MAMES[1] : 0.0 $MAMES[2] : -90.0 $MAMES[3] : 90.0 $MAMES[4] : 0.0 $MAMES[5] : 0.0 $MAMES[6] : 0.0 GETRIEBEÜBERSETZUNG (N/D) $RAT_MOT_AX[1] : {N -219,D 1} $RAT_MOT_AX[2] : {N -234,D 1} $RAT_MOT_AX[3] : {N -4491,D 19} $RAT_MOT_AX[4] : {N -46833,D 230} $RAT_MOT_AX[5] : {N -4550,D 23} $RAT_MOT_AX[6] : {N 9838125,D 73408} GEBERÜBERSETZUNG (N/D) $RAT_MOT_ENC[1] : {N 1,D 4} $RAT_MOT_ENC[2] : {N 1,D 4} $RAT_MOT_ENC[3] : {N 1,D 4} $RAT_MOT_ENC[4] : {N 1,D 4} $RAT_MOT_ENC[5] : {N 1,D 4} $RAT_MOT_ENC[6] : {N 1,D 4} ACHSHOCHLAUFZEIT [MS] $RAISE_TIME[1] : 996.5 $RAISE_TIME[2] : 600.0 $RAISE_TIME[3] : 750.0 $RAISE_TIME[4] : 938.799988 $RAISE_TIME[5] : 505.5 $RAISE_TIME[6] : 870.0 NENNDREHZAHL DES MOTORS [U/MIN] $VEL_AXIS_MA[1] : 3150.0 $VEL_AXIS_MA[2] : 3300.0 $VEL_AXIS_MA[3] : 3300.0 $VEL_AXIS_MA[4] : 3450.0 $VEL_AXIS_MA[5] : 3650.0 $VEL_AXIS_MA[6] : 4100.0 AUFLÖSUG DES MEßSYSTEMS [INC] $AXIS_RESO[1] : 4096 $AXIS_RESO[2] : 4096 $AXIS_RESO[3] : 4096 $AXIS_RESO[4] : 4096 $AXIS_RESO[5] : 4096 $AXIS_RESO[6] : 4096
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