以前在**光電的時候接觸過三協的機器人,說實話以前沒有去仔細研究過如何控制器人,所以當時也沒有整理出太多的資料.
最近比較仔細地看了下Rubbing機的程序,對三協的機器人控制有了些了解.
機器人的型號是:SR8142-0380,控制器是:SC3400 STD.
這種機器人是通過CC-LINK模塊(AB4301)與三菱Q系列PLC(Q06H)來通信的.這個CC-LINK模塊擁有了256個I/O信號點位.
X,Y信號各占據了128個.(在GX-DEVELOPER中設置CC-LINK參數,Remote(X) Start: X800,Remote(Y) Start: Y800,
現在把每個X,Y信號的功能和作用說明:
（X信號是機器人給PLC的信號,是反應機器人的狀態的.）
X800 Robot->Command1
X801 Robot->Command2
X802 Robot->Command4
X803 Robot->Command8
X804 Robot->Command16
X805 Robot->Command32
X806 Robot->Stage Type1
X807 Robot->Stage Type2
X808 Robot->Position Code Specification1
X809 Robot->Position Code Specification2
X80A Robot->Position Code Specification4
X80B Robot->Position Code Specification8
X80C Robot->Position Code Specification16
X80D Robot->Address1
X80E Robot->Address2
X80F Robot->Address4
X810 Robot->Address8
X811 Robot->Address16
X812 Robot->Address32
X813 Robot->Address64
X814 Robot->Work type1
X815 Robot->Work type2
X816 Robot->Work type4
X817 Robot->Work type8
X818 Robot->Work type16
X819 Robot->Work type32
X81A Robot->Hand Up&Down1
X81B Robot->Hand Up&Down2
X81C Robot Command Same Request
X81D Robot Same Time Catch&Put Command Put Completion
X81E Robot Acting
X81F Robot Action End
X820 Robot Servo Power On
X821 Robot Task Allowable
X822 Robot Task Starting
X823 Robot Task Hold Stopping
X824 Robot Controller Local/Teaching
X825 Robot Software Origin Position
X826 Robot Arm Equipment Interfere(Outer)
X827 Robot System Task Acting
X828 Robot Cassette No Specify glass
X829 Robot Error Code Strobo?
X82A Robot Error Code1
X82B Robot Error Code2
X82C Robot Error Code4
X82D Robot Error Code8
X82E Robot Error Code16
X82F Robot Error Code32
X830 Robot Upper Hand Vacuum On Request
X831 Robot Upper Hand Vacuum Off Request
X832 Robot Lower Hand Vacuum On Request
X833 Robot Lower Hand Vacuum Off Request
X834 Reserve Point
X835 Reserve Point
X836 Reserve Point
X837 Robot Command Reading Signal
X838 Reserve Point
X839 Robot Position Record
X83A Robot Speed Override1(Acting)
X83B Robot Speed Override2(Acting)
X83C Robot Hand Backing
X83D Robot Second Command code Request
X83E Robot Second Command code Same Request
X83F Robot Hand Position Inserting Status
（Y信號是PLC給機器人的指令,要求機器人執行什么動作.）
Y880 Robot Action Start
Y881 Robot<-Command1
Y882 Robot-Command2
Y883 Robot<-Command4
Y884 Robot<-Command8
Y885 Robot<-Command16
Y886 Robot<-Command32
Y887 Robot<-Stage Type1
Y888 Robot<-Stage Type2
Y889 Robot<-Position Code Specification1
Y88A Robot<-Position Code Specification2
Y88B Robot<-Position Code Specification4
Y88C Robot<-Position Code Specification8
Y88D Robot<-Position Code Specification16
Y88E Robot<-Address1
Y88F Robot<-Address2
Y890 Robot<-Address4
Y891 Robot<-Address8
Y892 Robot<-Address16
Y893 Robot<-Address32
Y894 Robot<-Address64
Y895 Robot<-Work type1
Y896 Robot<-Work type2
Y897 Robot<-Work type4
Y898 Robot<-Work type8
Y899 Robot<-Work type16
Y89A Robot<-Work type32
Y89B Robot<-Hand Up&Down1
Y89C Robot<-Hand Up&Down2
Y89D Robot Command Same Request
Y89E Robot Same Time Catch&Put Command Put Completion
Y89F Robot ACTION EXECUTION END
Y8A0 Error Reset
Y8A1 Robot Task Initial Start
Y8A2 Robot Task Cycle Stop
Y8A3 Robot Task Hold Stop
Y8A4 Robot Task Hold Cancle
Y8A5 Robot Software Origin Start
Y8A6 Robot Servo Power Off
Y8A7 Reserve Point
Y8A8 Reserve Point
Y8A9 Reserve Point
Y8AA Reserve Point
Y8AB Reserve Point
Y8AC Robot Second Action Start
Y8AD Robot Glass Check NG
Y8AE Robot Cassette Glass Check Effective
Y8AF Robot Abnormal Code Ack
Y8B0 Robot Upper Hand Glass Exist
Y8B1 Robot Upper Hand Glass Shift Confirm
Y8B2 Reserve Point
Y8B3 Robot Upper Hand Vacuum On Confirm
Y8B4 Robot Lower Hand Glass Exist
Y8B5 Robot Upper Hand Glass Shift Confirm
Y8B6 Reserve Point
Y8B7 Robot Upper Hand Vacuum On Confirm
Y8B8 Reserve Point
Y8B9 Position End Action Permit
Y8BA Robot Speed Override1
Y8BB Robot Speed Override2
Y8BC Command Cancel Flag
Y8BD Reserve Point
Y8BE Robot Second Command code Flag
Y8BF Reserve Point
由于我手中沒有機器人控制器的說明說,所以每個點位的作用我不是非常清楚.
不過從上面的Y信號可以看出該機器人可以進行128個位置定位(Y88E~Y894).
128個定位位置通過Y88E~Y894的信號ON，OFF的組合來指定.
以上是我個人的總結,可能有不對的地方,如果高手看了覺得我的資料是貽笑大方的話,還請多多包涵.謝謝了.
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