說明講稿kuka機器人

1、01/20061robot_interlock_en.pptAnti-collision with more than one robotInterlock options for robots with a shared workspace:1.) Direct communication between the robot controllers2.) Indirect communication between the robot controllers3.) Priority-controlled anti-collision measures via PLC01/20062robot

2、_interlock_en.pptSpot welding in the automotive industry01/20063robot_interlock_en.pptDirect communication between the robot controllersCommunication is carried out via a direct I/O link between the robot controllersShared workspace01/20064robot_interlock_en.pptDirect communication between the robot

3、 controllersCommunication is carried out via a direct I/O link between the robot controllers01/20065robot_interlock_en.pptExample: Interlock without PLC (1)Rob 1Rob 2O171I171I171O171True “1”False “0”01/20066robot_interlock_en.pptExample: Interlock without PLC (2)Rob 1Rob 2True “1”False “0”O(jiān)171I171I1

4、71O17101/20067robot_interlock_en.pptExample: Interlock without PLC (3)Rob 1Rob 2True “1”False “0”O(jiān)171I171I171O17101/20068robot_interlock_en.pptExample: Interlock without PLC (4)Rob 1Rob 2True “1”False “0”O(jiān)171I171I171O17101/20069robot_interlock_en.pptExample: Interlock without PLC (5)Rob 1Rob 2True “

5、1”False “0”O(jiān)171I171I171O17101/200610robot_interlock_en.pptDirect communication between the robot controllersCommunication is carried out via a direct I/O link between the robot controllers, e.g. via CAN busWith monitoring time:The monitoring time is programmed in the robot program. It starts once a

6、robot has been granted permission to enter the workspace. The robot waits until the time has elapsed. Once the time has elapsed, the robot checks once again the permission to enter the workspace. If it is still valid, the robot enters the shared workspace, otherwise the robot must remain stationary.

7、 Depending on the program, the robot may now attempt to acquire permission again.01/200611robot_interlock_en.pptDirect communication between the robot controllersCommunication is carried out via a direct I/O link between the robot controllers, e.g. via CAN busWith monitoring time:Advantages: Short c

8、ommunication time (longer than without monitoring time)No PLC programmer requiredDisadvantages:If two robots request permission to enter the workspace simultaneously, this results in a deadlockI/O communication required between PLC and robot and between all robots with a shared workspace01/200612rob

9、ot_interlock_en.pptDirect communication between the robot controllersCommunication is carried out via a direct I/O link between the robot controllers, e.g. via CAN busWithout monitoring time:Advantages: Short communication timeNo PLC programmer requiredDisadvantages:If two robots request permission

10、to enter the workspace simultaneously, this results in a CRASHI/O communication required between PLC and robot and between all robots with a shared workspace01/200613robot_interlock_en.pptIndirect communication between the robot controllersCommunication is routed via and/or controlled by a PLCPLC01/

11、200614robot_interlock_en.pptExample: Interlock with PLC (1)Rob 1Rob 2O171I171I171O171True “1”False “0”PLC01/200615robot_interlock_en.pptExample: Interlock with PLC (2)Rob 1Rob 2True “1”False “0”O(jiān)171I171I171O171PLC01/200616robot_interlock_en.pptExample: Interlock with PLC (3)Rob 1Rob 2True “1”False “

12、0”O(jiān)171I171I171O171PLC01/200617robot_interlock_en.pptExample: Interlock with PLC (4)Rob 1Rob 2True “1”False “0”O(jiān)171I171I171O171PLC01/200618robot_interlock_en.pptExample: Interlock with PLC (5)Rob 1Rob 2True “1”False “0”O(jiān)171I171I171O171PLC01/200619robot_interlock_en.pptIndirect communication between t

13、he robot controllersSignals are routed via the PLC without logic, i.e. no direct I/O link between the robot controllersWith monitoring time:Advantages: I/O communication only between the PLC and the robot in questionIf standardized signals are used, no PLC programmer is requiredDisadvantages:High pr

14、obability of robot deadlock if the monitoring time setting is too greatHigh probability of robot CRASH if the monitoring time setting is too lowLong communication time due to monitoring time01/200620robot_interlock_en.pptIndirect communication between the robot controllersSignals are routed via the

15、PLC without logic, i.e. no direct I/O link between the robot controllersWithout monitoring time:Advantages: I/O communication only between the PLC and the robot in questionIf standardized signals are used, no PLC programmer is requiredDisadvantages:High risk of CRASH because of increased signal leng

16、th due to PLC scan (program sequence)01/200621robot_interlock_en.pptPriority-controlled anti-collision measures via PLCI/O communication only between PLC and robot. The signals are linked by means of logic operations in the PLC. Which robot has priority in the event of several robots simultaneously

17、requesting permission to enter the workspace is defined by means of the logic in the PLC program.Permission requested Permission grantedAdvantages: I/O communication only between PLC and the robot in questionRobots do not crash or cause a deadlockDisadvantages:The programming requires a PLC programm

18、er and a robot programmerCommunication time = 1 PLC scan plus robot reaction time01/200622robot_interlock_en.pptPriority-controlled anti-collision measures via PLCI/O communication only between PLC and robot. The signals are linked by means of logic operations in the PLC. Which robot has priority in the event of s