ABB 喷涂机器人基础培训 18 IRC5P的IPS系统

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2019/11/20 发布于 教育 分类

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1. CNAUS - 1 IRC5P ABB DMRO/RS/PPA/GeorgeZheng IPS
2. IPS PC GUI IPS (PIB) Robot Controller TPU IPS General CNAUS - 2 I/O VCD VCD VCD I-Driver /Gear Pump ACU/ PPRU HVC
3. CNAUS - 3 PaintRapid IPS
4. CNAUS - 4 I/O IPS
5. CNAUS - 5 IRC5P IPS PIB
6. IPS config a_physical b_device c_applicator d_brush param e.g: A1Brush CNAUS - 6 calib index -- PIB
7. PIB IPS CNAUS - 7 IPS RobView / IPS PIB
8. CNAUS - 8 PIB IPS
9. CNAUS - 9 PIB IPS
10. PIB IPS config/a-physical: a_physical / A1IP.cfg: IPS:CFG_2.0:: ACTUATOR: -name "A1Shape2IP" -use_output "Mac9/Ppru1/IP1" -name "A1Shape1IP" -use_output "Mac9/Ppru1/IP2" -name "A1AtomIP" -use_output "Mac9/Ppru1/IP3“ PARAMETER: -path "Mac9/Ppru1/IP1/IntMode" -value 3 -path "Mac9/Ppru1/IP2/IntMode" -value 3 -path "Mac9/Ppru1/IP3/IntMode" -value 3 -path "Mac9/Ppru1/IP3/Silent" -value 1 -path "Mac9/Ppru1/IP1/ZeroOutput" -value 0.08 -path "Mac9/Ppru1/IP2/ZeroOutput" -value 0.08 -path "Mac9/Ppru1/IP3/ZeroOutput" -value 0.08 CNAUS - 10 CFG_END IPS Structure/ Page. 134.135
11. PIB IPS config/a-physical: -path "RectOnLim/Silent" -value 1 -path "RectOnLim/MinVal" -value 1 a_physical / A1motor.cfg: IPS:CFG_2.0:: LINEARCURVE: -name "A1M1Curve" -offset 0 -factor 12.63 SENSOR: -name "RectOnS" -use_input "Spi1/Mib1/InPort3/SYS2_MOT2_RLY_FB“ ACTUATOR: -name "A1Servo1" -use_output "Mac54/iDrive" -name "A1M1" -use_output "A1Servo1" -unit 5 -use_curve "A1M1Curve“ DEVIATIONALARM: -name "A1Servo1Dev" -supervise "A1Servo1“ LIMITALARM: -name "RectOnLim" -supervise "RectOnS" -notify "A1Servo1“ PARAMETER: -path "A1Servo1Dev/AbsLimit" -value 75 CNAUS - 11 -path "A1Servo1Dev/RelLimit" -value 7.5 -path "A1Servo1Dev/Notify" -value 1 -path "A1Servo1Dev/ErrTime" -value 128 -path "A1Servo1Dev/FbkHoldOff" -value 5 -path "RectOnLim/MaxVal" -value 2 CONNECTION: -from "RectOnS" -to "Mac5/Digout5“ CFG_END
12. PIB IPS config/b-devices: b_devices / A1FluidRed6cc.cfg: IPS:CFG_2.0:: LINEARCURVE: -name "A1PumpCurve" -offset 0 -factor 0.1666 ACTUATOR: -name "A1Pump" -use_output "A1M1" -unit 3 -use_curve "A1PumpCurve" -name "A1Fluid" -use_output "A1Pump" LIMITALARM: -name "A1PumpPSInLim" -supervise "A1PumpPSIn" -notify "A1Pump" CNAUS - 12 -name "A1PumpPSOutLim" -supervise "A1PumpPSOut" -notify "A1Pump" CFG_END
13. PIB IPS config/b-devices: ACTUATOR: CNAUS - 13 -name "A1Pump" -use_output "A1M1" -unit 3 -use_curve "A1PumpCurve“
14. PIB IPS config/c-applicator: c_applicator / A1Bell.cfg: IPS:CFG_2.0:: APPLICATOR: -name "A1" -use_needle "A1Needle" -use_fluid "A1Fluid" \ -use_atom "A1Atom" -use_shape "A1Shape1" -use_shape "A1Shape2" \ -use_highvolt "A1HV“ SENSOR: -name "CabinIL" -use_input "Safety/InPort8/CabinIntOk“ LIMITALARM: -name "A1AirSupPSLim" -supervise "A1AirSupPS" -notify "A1" -name "CabinILLim" -supervise "CabinIL" -notify "A1“ PARAMETER: -path "A1AirSupPSLim/MinVal" -value 1 -path "A1AirSupPSLim/MaxVal" -value 2 CNAUS - 14 CONNECTION: -from "A1/Enable" -to "A1Atom/Enable" -from "A1/Atom" -to "A1AtomV“ CFG_END
15. PIB IPS config/d-brush: CONNECTION: -from "A1Brush/Param1" -to "A1/Fluid" -from "A1Brush/Param2" -to "A1/Atom" -from "A1Brush/Param3" -to "A1/Shape" -from "A1Brush/Param4" -to "A1/Shape2" -from "A1Brush/Param5" -to "A1/HighVolt“ CFG_END d_brush / A1brush.cfg: IPS:CFG_2.0:: INDEXTABLE: -name "A1BrushTab" -use_file "A1BTab.ndx" BRUSHDEVICE: -name "A1Brush" -use_file "A1Brush" ACTUATOR: -name "A1BrushTabNdx" -use_output "A1Brush/Table" \ CNAUS - 15 -use_curve "A1BrushTab" VARIABLEDEVICE: -name "A1Material“
16. IRC5P---IPS Brush Tables I/O’s: A1Material A1Brush A1Enable IPS INDEXTABLE A1BrushTab ACTUATOR Table Number BRUSHDEVICE A1Brush A1Material Param 1 A1Brush Param 2 Atom Fluid Param 3 Shape Enable APPLICATOR A1 Fluid Process CNAUS - 16 RW Atom Process Shape Process
17. PIB IPS /param: PARAMETER:'>PARAMETER:'>PARAMETER:'>PARAMETER: -path “A1Needle/DelayUp” -value 150 -path “A1Needle/DelayDown” -value -150 -path "A1Shape/DelayUp" -value 50 -path "A1Shape/DelayDown" -value 50 -path "A1Shape/CurveSize" -value 20 -path "A1Shape/HoldOffUp" -value 304 -path "A1Shape/HoldOffDn" -value 400 -path "A1Shape/ZeroOutput" -value -1 -path "A1Shape/CompHoldUp" -value 400 -path "A1Shape/CompHoldDn" -value 450 -path "A1Shape/CompAbsLim" -value 2 CNAUS - 17 -path "A1Shape/CompRelLim" -value 20 -path "A1Shape/CompCutReg" -value 1 PARAMETER:'>PARAMETER:'>PARAMETER:'>PARAMETER: -path "A1Shape/DelayUp" -value 50 -path "A1Shape/DelayDown" -value 50 -path "A1Fluid/DelayUp" -value 50 -path "A1Fluid/DelayDown" -value 50 -path "A1FluidPl/Volume" -value 200 -path "A1FluidPl/WarnTime" -value 100 -path "A1ShapeDev/HoldOff" -value 304 -path "A1ShapeDev/AbsLimit" -value 20 -path "A1ShapeDev/RelLimit" -value 0 -path "A1ShapeDev/WarnLimit" -value 50 -path "A1ShapeDev/Notify" -value 1 Arguments PARAMETER:'>PARAMETER:'>PARAMETER:'>PARAMETER:
18. PIB IPS /A1Brush: d_brush / A1brush.cfg: CONNECTION: Global.bt: -from "A1Brush/Param1" -to "A1/Fluid" 0,40,350,200,0 -from "A1Brush/Param2" -to "A1/Atom" 0,40,350,200,70 -from "A1Brush/Param3" -to "A1/Shape" 0,-999,-999,-999,-999 #WaitBrush -from "A1Brush/Param4" -to "A1/Shape2" 0,30,400,200,0 #MtrlChBrush -from "A1Brush/Param5" -to "A1/HighVolt“ 0,30,400,200,0 #HubClnBrush CFG_END 0,15,150,300,0 #BellClnBrush 0,0,0,0,0 #IdleBrush #StartBrush # Table101 300,35,350,200,75 350,35,350,200,75 CNAUS - 18 400,40,350,200,75 400,40,350,200,75 400,40,350,200,75
19. PIB IPS A1Atom.c00 A1Atom.c32 A1Shape1.c00 A1Shape1.c32 A1Shape2.c00 CNAUS - 19 A1Shape2.c32 A1Atom.c32 : 20 60 2.7378 3.1008 3.7529 4.178 4.8418 5.5139 6.1489 8 A1Shape1.c00 : 200 600 1.7387 2.0799 2.4497 2.8281 3.1928 3.5562 3.9263 4.2912 4.6631 5.002 /Calib:
20. PIB IPS IPS:CFG_2.0:: INDEXTABLE: -name "A1BrushTab" -use_file "A1BTab.ndx" ACTUATOR: -name "A1Material" -use_output "DoPort(1-4)" -name "A1Brush" -use_output "DoPort(58)" CONNECTION: -from "A1Material" -to "A1Brush" use_table "A1BrushTab" CNAUS - 20 CFG_END /index:
21. VCD -- IPS:CFG_2.0:: ACTUATOR: -name "A1Needle" -use_output "Mac16/Digout1" -name "A1SolvCC" -use_output "Mac16/Digout2" CNAUS - 21 -name "A1AirCC" -use_output "Mac16/Digout3" -name "A1Col" -use_output "Mac16/DoPort(4-6)" CFG_END
22. CNAUS - 22 AMCM (MCOB-02)
23. CNAUS - 23 AMCM (MCOB-02)
24. CNAUS - 24 AMCM (MCOB-02)