Description
4006L5311G001 Multi channel module
высотой 3U, расположенный в раме управления под DSPX.
волоконно – оптический разъем на передней панели и передаются в модуль обнаружения заземления.
ABB: Запасные части для промышленных роботов серии DSQC, Bailey INFI 90, IGCT, например: 5SHY6545L0001 AC1027001R0101 5SXE10 – 0181, 5SHY3545 L0009, 5SHI3545L0010 3BHB013088 R0001 3BHE009681R0101 GVC750BE101, PM866, PM861K01, PM864, PM510V16, PPD512, PPPD113, PP836A, P865A, 877, PPP881, PPPP885, PPSL500000 4 3BHL00390P0104 5SGY35L4510 и т.д.
General Electric: запасные части, такие как модули, карты и приводы. Например: VMVME – 7807, VMVME – 7750, WES532 – 111, UR6UH, SR469 – P5 – HI – A20, IS230SRTDH2A, IS220PPDAH1B, IS215UCVEH2A, IC698CPE010, IS200SRTDH2ACB и т.д.
Система Bently Nevada: 350 / 3300 / 1900, предохранительные зонды и т.д., например: 3500 / 22M, 3500 / 32, 3500 / 15, 3500 / 23500 / 42M, 1900 / 27 и т.д.
Системы Invis Foxboro: Серия I / A, управление последовательностью FBM, трапециевидное логическое управление, обработка отзыва событий, DAC,
обработка входных / выходных сигналов, передача и обработка данных, такие как FCP270 и FCP280, P0904HA, E69F – TI2 – S, FBM230 / P0926GU, FEM100 / P0973CA и т.д.
Invis Triconex: Модуль питания, модуль CPU, модуль связи, модуль ввода – вывода, например 300830937214351B, 3805E, 831235114355X и т.д.
Вудворд: контроллер местоположения SPC, цифровой контроллер PEAK150, например 8521 – 0312 UG – 10D, 9907 – 149, 9907 – 162, 9907 – 164, 9907 – 167, TG – 13 (8516 – 038), 8440 – 1713 / D, 9907 – 018 2301A, 5466 – 258, 8200 – 226 и т.д.
Hima: модули безопасности, такие как F8650E, F8652X, F8627X, F8678X, F3236, F6217, F6214, Z7138, F8651X, F8650X и т.д.
Honeywell: Все платы DCS, модули, процессоры, такие как: CC – MCAR01, CC – PAIH01, CC – PAIH02, CC – PAIH51, CC – PAIX02, CC – PAON01, CC – PCF901, TC – CR014, TC – PD011, CC – PCNT02 и т.д.
Motorola: серии MVME162, MVME167, MVME172, MVME177, такие как MVME5100, MVME5500 – 0163, VME172PA – 652SE, VME162PA – 344SE – 2G и другие.
Xycom: I / O, платы VME и процессоры, такие как XVME – 530, XVME – 674, XVME – 957, XVME – 976 и т.д.
Коул Морган: Сервоприводы и двигатели, такие как S72402 – NANA, S6201 – 550, S20330 – SRS, CB06551 / PRD – B040SSIB – 63 и т. Д.
Bosch / Luxer / Indramat: модуль ввода / вывода, контроллер PLC, приводной модуль, MSK060C – 0600 – NN – S1 – UP1 – NNN, VT2000 – 52 / R900033828, MHD041B – 144 – PG1 – UN и т.д.
Design of ABB industrial robot deburring and grinding workstation based on RobotStudio simulation software
introduction
As an official offline programming software for ABB robots, Robotstudio not only has powerful simulation and offline programming functions, but also has automatic path generation
function and simulation monitoring collision function. It can realize the simulation of robots in real scenes, so as to timely update existing robot programs. optimize. On-site teaching
programming will affect normal production activities on site.
The application of Robotstudio software offline programming can reduce on-site teaching and programming time.
As a traditional process of mechanical processing, deburring and grinding have a wide range of applications. However, for a long time, in the process of manual deburring
and polishing, there have been differences in operations between workers. The manual operation is not repeatable and the deburring effect is unstable, which has seriously
affected the surface quality and service life of the finished product; and the working environment There is a large amount of dust floating in the air and the conditions are harsh,
seriously endangering the physical and mental health of workers. With the proposal of “Made in China 2025”, intelligent manufacturing production has become an
important development direction for the transformation and upgrading of the future manufacturing industry. The use of industrial robot automated production lines for repetitive
batch processing operations can not only greatly improve production efficiency, but also greatly improve product quality. Yield and production stability. Therefore, before designing
the robot polishing program, if the shape, size and polishing amount of the workpiece to be polished are known, the robot offline program can be written on the
Robotstudio software according to the existing conditions, thereby improving the efficiency of on-site programming.
1Design task description
This task is to create a new simulation workstation in ABB robot simulation software Robotstudio. The corresponding training equipment in reality is the Yalong
YL-l360A industrial robot deburring and grinding system control and application equipment. The industrial robot selection and method of the simulation workstation are
The grinding head installed on the blue plate refers to the Yalong YL-l360A industrial robot deburring and grinding system control and application equipment, and the
workpiece is customized. The ABB industrial robot deburring and
grinding workstation simulation training process includes: creating a workstation, setting up tools, creating smart components, creating tool coordinate systems,
creating trajectories, programming, simulation design, and verification.
2 Task implementation
2.1 Create a workstation
Import the robot: First, create a new simulation workstation in the Robotstudio software. The workstation name is self-named, and then import the
corresponding industrial robot IRB1410. The robot position remains unchanged by default. Create a robot system, modify the system options, check 709-1D
eviceNetMaster/s1ave, select Chinese as the language, and leave the other options unchanged by default, then click Confirm to create the robot system
After the robot system is created, hide the industrial robot IRB1410 to facilitate subsequent workstation operations.
Import workpiece: The workpiece here is customized, and the corresponding workpiece is selected according to the actual situation on site. This article
uses the original workpiece Curvet in Robotstudio software. After importing it into the workstation, according to the reachable range of the robot, just place the
workpiece at a suitable location within the reachable range of the robot, as shown in Figure 1.
Import the grinding rotor tool: First, create a new grinding rotor tool component – rotor – copy (2) and rotor – copy (2) in the so1idworks 3D software. The
rotor – copy (2) is a rotatable grinding rotor. —The copy is the tool body, which is the grinding rotor frame, and is installed on the robot flange, as shown in Figure 2.
2.2 Setting tools
First, move the rotatable grinding rotor and the tool body to the local origin based on point A, and adjust the initial tool angle so that the grinding rotor is
parallel to the x-axis of the geodetic coordinate system, as shown in Figure 3. Set the local origin of the tool body at this time, change the position x, y,: to 0, 0, 0, and change the direction x, y,: to 0, 0, 0.
Figure 3 Tool settings
Create a new frame at point B of the tool body, name it “frame l”, and adjust the direction of frame l so that the axis is perpendicular to the
plane of point B. The specific direction is shown in Figure 4.
Pacific Scientific 105-090001-01 printed circuit board
Pacific Scientific 105-0730010-01 A printed circuit board
Pacific Scientific 105-072001-01 motion control panel
Pacific Scientific 105-070005-01 printed circuit board unit
Pacific Scientific 105-070001-05 circuit board
Pacific Scientific 105-050010 pc board
Pacific Scientific 105-050001-01 Simulation board
Pacific Scientific 105-040300-01 circuit board
Pacific Scientific 105-040200-02 motion control panel
Pacific Scientific 105-032002-01 motion control card
MMS 6720 With integrated output relay card
MMS 6710 Four channel isolation amplifier
MMS 6620 I/O card with 4 analog inputs
MMS 6418 Absolute-/ Relative Expansion Measuring Amplifier
MMS 6410 Two-channel displacement transducer
MMS 6312 Two-channel speed monitor
MMS 6310 Two-channel phase mark monitor
MMS 6220 Two-channel rotor eccentricity monitor
MMS 6120 Static Displacement Monitor
MMS 6140 Dual Channel Rotor Vibration Monitor
MMS 6140 Dual Channel Rotor Monitor
MMS 6125/10 Dual Channel Absolute Vibration Monitor
MMS 6125/00 Dual Channel Absolute Vibration Monitor
MMS 6120 Dual Channel Absolute Vibration Monitor
MMS 6110 Dual Channel Shaft Vibration Monitor
A6510 Signal Input Module
A6560RT Transient – Digital Condition Recorder
A6560R Prediction Processor
EZ1000 Eddy Current Converter
A6371/10 Backplane with slots for 3 measurement cards
A6371/00 Backplane with slots for 3 measurement cards
A6370D/DP 1 Channel Overspeed Protection Card
A6370D Channel overspeed protection card
A6500-FR Front Termination Rack
A6500-RR Redundant Relay Rack
A6500-SR System Rack
A6500-CC-P Package A6500-CC & A6500-PE
A6500-PE Prediction Extension License
A6500-CC System Communication Card
A6500-RC System Relay Card
A6500-UM Universal Measurement Card, Spee
P70530-SDN DC Microstepping Driver
P70530-PNN DC drive
P70360-SDN AC High Performance Microstep Driver
P70360-PNN Microstep AC Drive
S21260-VTS server Driver
S21260-SRS High performance servo drive
S20630-VTS server Driver
S20630-SRS server Driver
S20360-VTS-021 driver
S20360-VTS server Driver
S20360-SRS Brushless Servo Driver
S20360-CNS Node Servo Driver
S20350-VTS S200 Brushless Driver
S20350-CNS Node Servo Driver
S20330-VTS server Driver
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