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Z1 配置福尼斯焊机的机器人系统参数设置说明


配置福尼斯焊机的机器人系统参数设置说明
吴为进 2011-10

一、检查系统配置,确认 ARC 选项为:650-9 Fronius TPS4000/5000

ABB 出厂默认选项,如果使用旧机器人 ARC 选项可能不是 650-9 TPS4000/5000,需重装系统,参考系统安装手册。
二、修改 EIO.cfg,配置肯比焊机信号

Fronius

2.1、EIO_UNIT_TYPE 确认福尼斯焊机通讯板定义;如果没有定义,添加如

下定义。
-Name "BK5200" -BusType "DNET" -VendorName "BECKHOFF"\ -ProductName "BECKHOFF" -DN_VendorId 108 -DN_ProductCode 5200\ -DN_DeviceType 12 -DN_MajorRev 3 -DN_C1Interval 30 -DN_C1OutputSize -1\ -DN_C1InputSize -1 -Name "BK5250" -BusType "DNET" -VendorName "BECKHOFF"\ -ProductName "BECKHOFF" -DN_VendorId 108 -DN_ProductCode 5250\ -DN_DeviceType 12 -DN_C1Interval 30 -DN_C1OutputSize -1 -DN_C1InputSize -1

2.2、EIO_UNIT 添加福尼斯焊机通讯板及虚拟板;红字的“20”为 DeviceNet

地址需根据福尼斯的拔码开关确定,不能与系统中已使用的地址重复。

-Name "ioFronius1" -UnitType "BK5250" -Bus "DeviceNet1" -DN_Address 20 -Name "ioFroniusSim1" -UnitType "Virtual" -Bus "Virtual1"\ -UnitLabel "RWArc Simulated welder"

2.3、EIO_SIGNAL 添加如下信号,所有信号不能修改;
-Name "doFr1ArcOn" -SignalType "DO" -Unit "ioFronius1" -UnitMap "0" -Name "doFr1RobotReady" -SignalType "DO" -Unit "ioFronius1" -UnitMap "1" -Name "doFr1GasTest" -SignalType "DO" -Unit "ioFronius1" -UnitMap "8" -Name "doFr1FeedForward" -SignalType "DO" -Unit "ioFronius1" -UnitMap "9" -Name "doFr1FeedRetract" -SignalType "DO" -Unit "ioFronius1" -UnitMap "10" -Name "doFr1ErrorReset" -SignalType "DO" -Unit "ioFronius1" -UnitMap "11" -Name "doFr1TouchSense" -SignalType "DO" -Unit "ioFronius1" -UnitMap "12" -Name "doFr1TrchBlowOut" -SignalType "DO" -Unit "ioFronius1" -UnitMap "13" -Name "doFr1WeldingSim" -SignalType "DO" -Unit "ioFronius1" -UnitMap "31" -Name "diFr1ArcStable" -SignalType "DI" -Unit "ioFronius1" -UnitMap "0"\ -FiltPas 50 -Name "diFr1ProcessActv" -SignalType "DI" -Unit "ioFronius1" -UnitMap "2" -Name "diFr1MainCurrent" -SignalType "DI" -Unit "ioFronius1" -UnitMap "3" -Name "diFr1TorchColisn" -SignalType "DI" -Unit "ioFronius1" -UnitMap "4" -Name "diFr1WelderReady" -SignalType "DI" -Unit "ioFronius1" -UnitMap "5" -Name "diFr1CommunicRdy" -SignalType "DI" -Unit "ioFronius1" -UnitMap "6" -Name "aoFr1Power" -SignalType "AO" -Unit "ioFronius1" -UnitMap "32-47"\ -EncType "UNSIGNED" -MaxLog 100 -MaxPhys 10 -MaxPhysLimit 10\ -MaxBitVal 65535 -Name "aoFr1ArcLength" -SignalType "AO" -Unit "ioFronius1"\ -UnitMap "48-63" -EncType "UNSIGNED" -MaxLog 30 -MaxPhys 10\ -MaxPhysLimit 10 -MaxBitVal 65535 -MinLog -30 -Name "aoFr1Dynamic" -SignalType "AO" -Unit "ioFronius1" -UnitMap "64-71"\

-EncType "UNSIGNED" -MaxLog 5 -MaxPhys 10 -MaxPhysLimit 10 -MaxBitVal 255\ -MinLog -5 -Name "aoFr1BurnBackCor" -SignalType "AO" -Unit "ioFronius1"\ -UnitMap "72-79" -EncType "UNSIGNED" -MaxLog 200 -MaxPhys 10\ -MaxPhysLimit 10 -MaxBitVal 255 -MinLog -200 -Name "aiFr1Volt_M" -SignalType "AI" -Unit "ioFronius1" -UnitMap "32-47"\ -EncType "UNSIGNED" -MaxLog 100 -MaxPhys 10 -MaxPhysLimit 10\ -MaxBitVal 65535 -Name "aiFr1Current_M" -SignalType "AI" -Unit "ioFronius1"\ -UnitMap "48-63" -EncType "UNSIGNED" -MaxLog 1000 -MaxPhys 10\ -MaxPhysLimit 10 -MaxBitVal 65535 -Name "aiFr1MotorCurr_M" -SignalType "AI" -Unit "ioFronius1"\ -UnitMap "64-71" -EncType "UNSIGNED" -MaxLog 5 -MaxPhys 10\ -MaxPhysLimit 10 -MaxBitVal 255 -Name "aiFr1WireFeed_M" -SignalType "AI" -Unit "ioFronius1"\ -UnitMap "80-95" -EncType "UNSIGNED" -MaxLog 366.67 -MaxPhys 10\ -MaxPhysLimit 10 -MaxBitVal 65535 -Name "goFr1Mode" -SignalType "GO" -Unit "ioFronius1" -UnitMap "2-4" -Name "goFr1JobNum" -SignalType "GO" -Unit "ioFronius1" -UnitMap "16-23" -Name "goFr1PrgNum" -SignalType "GO" -Unit "ioFronius1" -UnitMap "24-30" -Name "giFr1Error" -SignalType "GI" -Unit "ioFronius1" -UnitMap "8-15" -Name "siFr1WelderOK" -SignalType "DI" -Unit "ioFroniusSim1" -UnitMap "0" -Name "soFr1WelderOK" -SignalType "DO" -Unit "ioFroniusSim1" -UnitMap "0" -Name "siFr1StopProc" -SignalType "DI" -Unit "ioFroniusSim1" -UnitMap "1" -Name "soFr1StopProc" -SignalType "DO" -Unit "ioFroniusSim1" -UnitMap "1"\ -Access "ALL" -Name "siFr1WireStick" -SignalType "DI" -Unit "ioFroniusSim1" -UnitMap "2" -Name "soFr1WireStick" -SignalType "DO" -Unit "ioFroniusSim1" -UnitMap "2" -Name "soFr1UpdateSched" -SignalType "DO" -Unit "ioFroniusSim1"\ -UnitMap "3"

-Name "diFr1PartDetect" -SignalType "DI" -Unit "ioFroniusSim1"\ -UnitMap "4" -Name "doFr1SensorRef" -SignalType "DO" -Unit "ioFroniusSim1" -UnitMap "4" -Name "soFr1ArcOn" -SignalType "DO" -Unit "ioFroniusSim1" -UnitMap "5"

2.4、添加电弧反馈虚拟信号,解决跟踪路径不保存问题。
-Name "vdiFr1ArcStable" -SignalType "DI" -Unit "V_Board" -UnitMap "0"\ -FiltPas 300

2.5、EIO_CROSS 中修改如下信号
-Res "siFr1WelderOK" -Act1 "soFr1WelderOK" -Res "siFr1StopProc" -Act1 "soFr1StopProc" -Res "siFr1WireStick" -Act1 "soFr1WireStick" -Res "doFr1ArcOn" -Act1 "soFr1ArcOn" -Oper1 "AND" -Act2 "soAwCycleOn" -Res "diFr1PartDetect" -Act1 "doFr1SensorRef" -Act1_invert -Act2 "diFr1ArcStable" -Res "vdiFr1ArcStable" -Act1 "diFr1ArcStable" -Oper1 "OR"\

三、PROC.cfg 参数配置 3.1、配置福尼斯焊机信号,在相应的信号定义中修改为福尼斯信号:
FRONIUS_EQUIP_PROP: -name "FR5000MW_T_ROB1" -use_arc_equip_stnd_io "FR5000MW_T_ROB1"\ -use_fronius_equip_io "FR5000MW_T_ROB1" -Mode "JobMode" -ignition_on \ -fill_on -autoinhib_on # FRONIUS_EQUIP_IO: -name "FR5000MW_T_ROB1" -ArcEst "vdiFr1ArcStable" -WaterOk "diWater"\ -GasOk "NO_SIGNAL" -WirestickErr "siFr1WireStick"\ -WirestickErrDO "soFr1WireStick" -WelderReady "diFr1WelderReady"\ -WelderCommOk "diFr1CommunicRdy" -WelderRdyDI "siFr1WelderOK"\ -GasOn "doFr1GasTest" -WeldOn "soFr1ArcOn" -FeedOn "doFr1FeedForward"\ -FeedOnBwd "doFr1FeedRetract" -RobotReady "doFr1RobotReady"\ -WelderErrReset "doFr1ErrorReset" -WelderRdyDO "soFr1WelderOK"\ -TouchSenseDO "doFr1TouchSense" -UpdateSched "soFr1UpdateSched"\ -VoltReference "aoFr1ArcLength" -FeedReference "aoFr1Power"\

-ControlPort "aoFr1Dynamic" -BurnBackCorr "aoFr1BurnBackCor"\ -VoltageMeas "aiFr1Volt_M" -CurrentMeas "aiFr1Current_M"\ -SynWireFeed "aiFr1WireFeed_M" -MotorCurrMeas "aiFr1MotorCurr_M"\ -JobPort "goFr1JobNum" -ProgramPort "goFr1PrgNum" -ModePort "goFr1Mode"\ -WelderErrCodes "giFr1Error"

四、加载 EIO.cfg、PROC.cfg 参数配置 通过ABB菜单—控制面板—配置, 加载修改后的两个参数文件, 重启系 统生效。

附录:福尼斯通讯板跳线、指示灯说明


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