PM866K01 simulation module

Product parameters

Model: PM866K01

Brand: ABB

Size: 10cm x 10cm x 30cm

Weight: 1.2KG

Color: White Black

Working voltage: 5V

Working temperature: -10 ℃ to 50 ℃

Communication interface: RS232, RS485, CAN

Product specifications

Support for MODBUS protocol

Support hardware flow control

Using high-speed CMOS devices

Support for data caching

application area

PM866K01 is mainly used in the field of industrial automation, such as DCS PLCs, industrial controllers, robots, etc.

PM866K01 is mainly used in steel manufacturing, thermal power generation, hydroelectric power generation, glass manufacturing, paper mills, cement factories, petrochemicals

Chemical fiber, pharmaceutical manufacturing, rubber, plastics, ferrous metal food, machine tools, specialized equipment, transportation vehicles, mechanical equipment

Electronic communication equipment, instruments and beverages, tobacco processing, clothing, textiles, leather, wood processing, furniture, printing, etc

Model: PM866K01 Brand: ABB Archive Function: Communication Function Product Certification: Qualified

Working voltage: 24V Internal variable: No pattern Type: Vector diagram Applicable range: Industrial type

Number of screens: 4 Imported or not: Yes Customized for processing: No

Alarm function: Product name: Module Input voltage: 24V Rated current: 5A

Special service: including postage. Remarks: one-year warranty. Operation method: remote control

Applicable motor: servo motor system memory: 8MB Display color: 99.9 color gamut

Power voltage: 220V Input method: Current Input Material code: 65218

Communication interface: HDMI interface Working temperature: 60 Material number 26854 Other functions Analog communication

Output frequency: 50HZ Rated voltage: 24V Alarm type: Light alarm

Disconnect capacity: 0.01 Vector graph support: Minimum number of packages supported: 1

Display type: IPS USB interface quantity: 2 interfaces Memory card slot: 2

Panel protection level: 3 Memory expansion capacity: 128MB User script support: supported

Speed response frequency: 1MS Working environment temperature: -40 to 100 Insulation withstand voltage test: Passed

Third party communication products: ABB controllers available for sale in: nationwide

Product Instructions

Please install PM866K01 correctly on the device and connect the communication interface cable properly.

Please refer to the user manual for operating PM866K01 to ensure proper use.

Product Introduction

PM866K01 is a high-performance industrial automation communication module that uses high-speed CMOS devices, supports MODBUS protocol, and supports
hardware flow control. It is an ideal choice in the field of industrial automation.

Figure 4 Tool Framework

2.3Smart component creation

Call the Rotator component: This component is used to allow the rotatable grinding rotor to rotate during simulation to simulate the real grinding scene. In the
parameters of the Rotator component, set the reference to object, the reference object to the frame l, and the object to a copy of the rotor. (2) The rotary grinding rotor
can be rotated, and the speed is l20mm/s (the speed of the grinding head will affect the quality of the finished product) ), the reference center axis is: axis (based on frame
l, centerpoint x, y,: set to 0, 0, 0, Axis set x, y,: 0, 0, l000mm).

Call the Attach component: This component is used to allow the rotatable grinding rotor to be integrated with the tool body. When the tool body is installed
on the flange, it can follow the movement of the flange. In the parameters of the Attach component, set the sub-object to be a copy of the rotor (2) for the rotatable
polishing rotor, and the parent object is the tool body of a copy of the rotor. The offset and orientation are
based on the offset of point B relative to the origin. For setting, you can use the measurement tool in Robotstudio software to measure, and then set the parameters
after measurement.

Verification: Install a copy of the rotor tool body onto the robot flange, and then click Execute in the Attach component. You can observe whether the position of the
rotatable grinding rotor is correct at this time. If there is a deviation, adjust the position in time, as shown in the figure. 5 shown.
Figure 5 Tool installation

2.4 Create tool coordinate system

Use the six-point method to create the tool coordinate system Too1data on the robot teach pendant at the center of the rotor. Change the tool coordinate
system to Too1data in the basic options. At this time, click on the robot manual linear and you can drag the robot to move linearly at will.

2.5 Creating trajectories and programming

Determine the trajectory: According to the requirements of the work task, design the grinding trajectory around the workpiece and determine the trajectory
points and transition points required for the grinding trajectory. The grinding action process is shown in Figure 6.
Setting I/O and programming: Yalong IY-l3-LA industrial robot deburring and grinding system control and application equipment adopts 0sDC-52 6/o
communication board, the address is 10, Do1 is the digital output signal, the address is 1 . First set the I/O board, then set the I/O digital output signal Di1,
and then program on the simulation teaching pendant. The procedure is as follows:

PRoCmain()

setDo1: Set the Do1 signal to allow the external grinding rotor to start rotating.

waitTime1: The robot stays in place and does not move, waits for 1s, and lets the polishing rotor turn to the specified speed, transition

MoveAbsjjpos10NoEoffs,v1000,z50,Too1data1: The robot moves to the initial point jpos10 above point p10. Point jpos10 is used as the starting
point and end point of the robot”s action.

Move4p10,v1000,z50,Too1data1: Move straight line grinding to point p10

Move4pL0,v1000,z50,Too1data1: Move straight line grinding to pL0 point

Move4p30,v1000,z50,Too1data1: Move straight line grinding to point p30

Move4p40,v1000,z50,Too1data1: Move straight line grinding to p40 point

Move4p10,v1000,z50,Too1data1: Move straight line grinding to point p10

MoveAbsjjpos10NoEoffs,v1000,z50,Too1data1: The robot moves to the initial point jpos10 above point p10

waitTime1: wait 1s, transition

ResetDo1: Reset the Do1 signal to stop the rotor ENDPRoC

2.6 Simulation design and verification

Simulation design: Create a smart component to input the Di1 signal, and use the Di1 signal to simulate the external polishing start signal to
execute the Rotator component and Attach component of the smart component to achieve the visual effect of rotating and polishing the polishing rotor.
In the workstation logic design, the smart component input Di1 signal is associated with the robot Do1 signal, so that the robot signal Do1 can control
the smart component input Di1 signal, thereby controlling the start and stop of the rotation of the polishing rotor.

Verification: In the program of the teaching pendant, first set the pp command to move to Main, and then set the robot startup mode to automatic.
Click play in the simulation of Robotstudio software to verify whether the trajectory is consistent with the assumption, and optimize the path in time for
problems existing in the simulation.

3Summary and outlook

This design is based on the programming simulation of the Yalong Y4-1360A industrial robot deburring system to control the grinding robot workstation.
It covers aspects such as creating a workstation, setting
up tools, creating smart components, creating tool coordinate systems, creating trajectories, programming, simulation design, and verification. Starting
with it, the polishing simulation of the workstation is realized through the smart component function of Robotstudio software. The animation effect is intuitive
and lifelike, which not only facilitates teaching demonstrations, but also facilitates program debugging, and has application value for both production and teaching.

In the planning and design of the workpiece grinding trajectory, according to the different roughness and grinding amount process requirements of the
workpiece, the rotation speed, feed speed, feed amount, and grinding angle of the grinding rotor are also different. The feed amount can be adjusted in
time according to the on-site conditions. , feed speed, rotor speed, grinding angle and other parameters. After appropriate adjustments, the motion trajectory is written with the
corresponding program on the Robotstudio software to further reduce the possibility of robot collisions and singular points contained in the trajectory
during the actual debugging process. ,Optimize paths and improve debugging efficiency.

NEC   G8NXAA5G
NEC   136-551733-B-02
NEC   RSA-983/D
NEC   FC-9821KE
NEC   FC-E18M/CY1Z9ZA FC98-NX FC-E18M IPC
NEC   FC-E18M/SX103Z
NEC FC-9821X MODEL1
NEC FC-9801F
NEC FC-9821X MODEL2
BESS100kW-21 5kWh
SAM ELECTRONICS LYNGSO MARINE 2200-PN271-148-556-G
SAM ELECTRONICS DAS-40M
SAM ELECTRONICS C6115-WAP401
SAM ELECTRONICS C6115-BAP401
ROCKSON GUARDIAN-V11
PHONTECH MPA-1603-94-03118-009-REV-2
PHONTECH MPA-1603-208-03118-009-REV-2
NESELCO BETONVEJ-10 DK-4000
NESELCO 601-D-2200
MSSA CMR-PWR-ALARM-PT8
MRT1624 16CHANNEL GENERAL PURPOSE ALARM PANEL
MARSEN LM-63434
LYNGSO MARINE UMS-2100-ACCOMMODATION
LYNGSO MARINE UMS-2100
KAMEWA ANA-DIG-PSR-I-OS
JRCS EXT-200-1-5755
INLTEH ITPWS
HANLA LEVEL INSTRUMENT TAU-LIDEC-12
EMERSON SF-CONTROL-LEVELDATIC-MDU-100S
DEIF AL8-2
DECKMA GMBH GAS-3000
CONSILIUM SALWICO GS4
BRAINCHILD ELECTRONIC CR06
AQUAMASTER RAUMA  ATC3-A7033172
AQUAMASTER RAUMA ATC2-A7030004
AQUAMASTER RAUMA ATC-2A-A7033149.1
ABB  Capacitance 1uf
ABB  board type instrument STU PFSA103C
ABB  board type instrument STU  STU3BSE002488R1
ABB  PFSA103C STU3BSE002488R1
ABB  PFBL141B-75KN tension sensor
ABB  tension amplifier 3BSE050090R65
ABB  tension amplifier PFEA111-IP65
ABB  PFEA111-IP65 3BSE050090R65
ABB  tension amplifier  PFEA112-IP20
ABB  tension amplifier  3BSE050091R20
ABB  PFEA112-IP20  3BSE050091R20
ABB  tension amplifier  PFEA113-IP65
ABB  tension amplifier  3BSE028144R265
ABB  PFEA113-IP65  3BSE028144R265
ABB  matching unit PFVO143
ABB  matching unit 3BSE023150R1
ABB  PFVO143  3BSE023150R1
ABB  matching unit  PFVO142
ABB  matching unit   3BSE023732R1
ABB  PFVO142 3BSE023732R1
ABB  pressure head control unit PFXA401F
ABB  pressure head control unit 3BSE024388R3