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3050 Rob.C

By Theodore Gardner,2014-11-27 22:12
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3050 Rob.C

     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

    -

     - 4 -

    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

     - 5 -

    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

     - 6 -

    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

     - 7 -

    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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