ABB卓越的机器人控制器IRC5介绍.ppt

The #1 Robot Controller 卓越的机器人控制器IRC5 Overview 简介© ABB Group 08 August 2021 | Slide 1From the first microcomputer robot controller…从世界上第一台微电脑机器人控制器…to the 5th generation Robot Controller: IRC5到第5代机器人控制器：IRC5§Built on established ABB controller strengths§Motion control 运动控制§Modular cabinet 模块化§Software 软件§Teach pendant 示教器§Miscellaneous 特色功能§15 new patents15项专利Motion Control 运动控制World best Motion Control 世界最佳的运动控制技术§TrueMove™ ensures that the motion path followed by the robot is the same as the programmed path – regardless of the robot speed 在任何速度下，始终按照编程路径运动§QuickMove™ minimizes cycle time by maximizing acceleration at every moment. 以最佳的加速方式确保最短的运动节拍speedtTraditionalQuickMoveTMCycle time gainBenchmark, Sealing 涂胶涂胶TrueMoveTMABBCompetitorBenchmark, Path Accuracy 运动路径精度Path deviation路径偏移路径偏移ABBLess than 1 mmCompetitor XUp to 10 mmCompetitor YUp to 12 mmSeveral path variants and velocities tested by a customer不同状况下的客户测试结果Test resultTrueMoveTMBenchmarks, Cycle Time 运动节拍Point-to-Point点到点Linear线性运动ABB50.42 sec50.54 secCompetitor X52.65 sec56.30 secCompetitor Y53.20 sec53.40 secSpot welding cycle, IRB 6600 (including 34 s process time)电焊节拍（包括34秒焊接工艺过程）Material handling cycle 物料搬运节拍, IRB 1600ABB4.4 sCompetitor X6.7 sCompetitor Y8.6 sBenchmark - Collision Detection 碰撞防护Reaction forces during a collision in mech arm碰撞后作用于机械手臂上的反作用力碰撞后作用于机械手臂上的反作用力2.52.01.01.50.5Force (kN)Reaction Time (sec)005No Coll. Det.Mech clutchCollision Det.nSubstantial reduction of collision forces 大幅降低碰撞力nRobot retracts automaticallyand releases tension from the tool机器人碰撞后自动退回nDamage to gripper and peripherals minimized 最小程度的设备损伤nFaster recovery after collision 碰撞后快速恢复nNo need for mechanical clutch 无需额外的机械设备At a recent customer test only ABB could come up with reliable collision detection! 在客户测试中，只有ABB拥有可靠的碰撞防护Load Identification 负载识别§Very accurate 高精度§Optimal robot performance 优化机器人运行过程§No need for manual calculation 无需人工计算§“The only useful load identification” (German customer)唯一可用的自动负载识别 （德国客户）Z’X’Y’XwYwZwZtXtYtBackModular cabinet 模块化 CabinetModule Family Concept 模块化§Front access of connections and parts正面电气接口§Flush sides for reduced floor space平齐侧面，节约空间§All modules stackable on top of each other 所有模块位置任意组合202 cmRemote panel 远程面板137 cm162 cm97cmDual cabinet双柜式Process module onDual cabinet 双柜式+过程柜Single cabinet单柜式Process module onSingle cabinet单柜式+过程柜Distributability 可扩展§Place modules where they fit best 将模块放置在最合适的地方§save floor space 节约空间§optimize cost 降低成本 Up to 75 m (std 10 or 30)Up to 75m (std 2, 4, 30)Up to 50m (std 7, 15, 22, 30)Up to 75 m (std 15, 22, 30)Versatile I/O and Communication System 通用通讯方式&=Panel Mounted Controller 面板式控制器§Controller modules without enclosure, to be mounted in any suitable enclosure by customer没有外壳的控制模块，可放置在客户的任何控制柜内§Available for IRB 140, 340, 260, 1600, 2400 以上型号机器人适用§Compact and fully integrated solution, e.g. for machine builders 高度集成化的解决方案，如可集成在机床内Software Products 软件Operating System 操作系统– RobotWare§Based on VxWorks ＆ .Net FrameWork 基于VxWorks 和 .Net FrameWork §Robust非常稳定 §High performance – used by NASA in the equipments on Mars性能卓越 – VxWorks同时应用在太空总署的火星探测设备的操作系统中 §No viruses没有病毒n From competitor manual: 竞争对手：容易受到病毒攻击，下图来自竞争对手的手册中关于受到病毒攻击时的处理方法Powerful and FlexibleThe RAPID Language 编程语言§Modern, high-level language 高级编程语言§Designed for end users 面向最终用户§Structured 结构化语言§Shop floor language 类似车间操作模式的语言结构§Customized instructions support支持自定义命令§Customer developed application support支持客户二次开发§Error handling有错误处理功能§Interrupt handling有中断功能§Many powerful built-in functions许多内置功能IF product = CAR THEN MakeCar;ELSE FOR num FROM 1 TO 10 DO MakeBike; ENDFORENDIFABB 的高级语言结构的高级语言结构 IF r1 = 0 THEN GOTO L1 CALL sub1 GOTO L3L1: r1 = 10L2: CALL sub2 SUB r1, 1 IF r1 > 0 THEN GOTO L2L3:Competitor 竞争对手使用的是低级语言竞争对手使用的是低级语言XXXXXXYYYYYYZZZZZZRobotStudio-Online 基于PC的操作软件§Install and configure the robot controller to your needs 根据您的需要安装和配置机器人的控制器§Setup and download RobotWare systems 配置和安装RobotWare§Easy and controlled change of system parameters 十分简便的更改系统参数§Monitor I/O signals 监控I/O信号§Basic RAPID editing 基本编程语言编辑§Managing production data管理生产数据§Record events记录事件§Backup and restore controller data备份和恢复数据§Remote Access可远程接入VirtualRobotTM Technology 虚拟机器人技术 - RobotStudio§VirtualRobot is an exact copy of the real controller VirtualRobot是现实机器人控制器的精确拷贝§Robot programs and configuration parameters can easily be transferred between robots and PC 机器人程序和配置参数可以在机器人和电脑直接方便地传输VirtualRobotTM Technology True Offline Simulation 虚拟机器人技术虚拟机器人技术 完全真实的离线仿真完全真实的离线仿真RobotStudio-完全离线仿真RobotStudio™ Welcome toRobotStudio §Build Your Station§Create Paths§Create a Program§What’s new in RobotStudioNew Graphics EngineMultiMove and Multiple ControllersEasier To UseTask orientedFlexPendant 示教器ABB Operator Concept§The FlexPendant and RobotStudioOnline work together示教器和RobotStudioOnline 协同工作§Same accessibility of data on FlexPendant as on RobotStudioOnline可同样操作控制器内数据§Select the optimal tool for each task不同的应用对象§RobotStudioOnline benefit examples:§Remote access 远程介入§Overview (large screen)§Text entry (keyboard) 文本编辑§FlexPendant benefit examples:§Portability 便携式§Safety features 安全性§Jogging 摇杆操作§Position teaching 位置示教机器人示教器比较__ABB彩色、触摸屏设计彩色、触摸屏设计（中、英文互换）（中、英文互换）仿Windows操作界面操作界面 会使用电脑的您，同样能轻易掌握操作会使用电脑的您，同样能轻易掌握操作以人为本的设计，以人为本的设计，告别繁复的按钮操作告别繁复的按钮操作三维操纵杆三维操纵杆使用简易、方便、快捷使用简易、方便、快捷ABB 机器人示教器机器人示教器 FlexPendant 示教器§3D joystick (patented) 3D摇杆§Large colour touch screen 彩色大触摸屏§14 languages, including full Asian character support支持14国语言§User Authorization System, allowing different access levels for different user groups可配置不同的访问权限§Right and left-handed support支持左右手设置§Harsh environment protected恶劣环境防护§Only 8 hard keys (4 customizable)只有8个按钮（包括4个自定义按钮） Competitors at least 30-40竞争对手至少有30-40个按钮Customizable User Interface自定义用户界面§Ability to build custom applications with full use of graphics and controller information 可以开发客户自定义的应用界面§Offline development support支持离线开发§Not anymore a programming unit only, but also an operator panel!不在局限于编程功能，可以作为操作面板使用Extensive Process Support, Software & Hardware-专用应用软件包ABB开发各种专用的应用操作界面Miscellaneous 特色功能Electronic Position Switches 电子位置开关§Replacing mechanical switches替代机械开关§Fully integrated in cabinet完全集成在控制柜内§Maintenance free免维护§Increased flexibility柔性§Easier to set up安装配置简便§Easier to replace a robot in production更换机器人简便§Enabling more compact mechanical units节省更多空间给其它机械单元No more cams 无需机械开关XSafeMove – Next Generation Robot Safety 下一代机器人安全系统§Enabling new lean cell concepts 新颖的精益概念§More compact cells 更精简的单元§Enabling Human – Robot cooperation 使人机协作成为现实Safety Certified 安全认证!?§Who cares? You should! 您应该关注！§UL 1740 and ISO 10218 are Robot Safety Standards机器人安全标准UL 1740 and ISO 10218 §ABB robots are subject to independent inspections by certified bodies ABB机器人拥有独立认证机构的认证§Most competitors do not have UL certificate 大多数竞争对手没有UL认证§Most competitors do only self assessment for ISO 10218大多数竞争对手只有ISO 10218的自我鉴定 PickMaster 3&5 拾料和堆垛大师§Ease of use software for Picking, Packing and Palletizing applications 便捷的应用软件，应用于拾料、装箱和堆垛§Flexible solutions 柔性解决方案§Saves programming time 节省编程时间§Powerful built in applications tool 强大的植入工具§Integrated machine vision 集成机器视觉Force Control 力控制§Force sensor interface 力传感器接口§Superior dynamic responsiveness出众的动态响应§Process support 支持工艺过程§Assembly 装配§Grinding 打磨§Machining 机械加工Force/Torque sensor力力/力矩传感器力矩传感器Assembly of a torque converterSummary - IRC5 Strong Points小结-IRC5的亮点§World class path accuracy and cycle time 顶级的路径精度和节拍§Flexible and powerful robot language - RAPID 柔性和强大的机器人语言§FlexPendant – the perfect tool for teaching and operation 示教器-完美的操作工具§SafeMove – the tool for lean cell design and collaborative applications 精益单元和协同工作工具§Wide range of user friendly process applications 广泛的应用§Powerful PC tools for effective on-/off-line support and network communication 强大的在/离线PC工具和通讯工具。