ABB机器人IRC5training-CMRunChain试卷.ppt

? ABB University -* IRC5 Operator ? ABB University -* Run Chains 运行链 Run Chains 运行链 Run Chain 运行链 Each Run Chain consist of two loops that supervise 每一个运行链包括两个监控回路 Emergency Stop 急停 (ES) Superior Stop 优先停止 (SS) General Stop 一般停止 (GS) Limit Switch (Working area for each axis) (LS) 限位开关(每个轴工作区域) Axis Computer is running 轴计算机运行 Depending of the position of the Key Switch 钥匙开关位置决定的: Auto Stop 自动停止 (AS) Enable Device on the FlexPendant (EN)示教器上使能键 All these conditions have to be ok to allow energizing the motors 所有这些条件必须满足,电机才能上电 Error message and Motors are turned off if:下面错误信息,电机关闭: Any condition is not fulfilled 某一个条件没有实现 Different status in the Run Chains for more than approx. 1-2 seconds 在运行链中,大约1到2秒不同的状态 Run Chains 运行链 Panel Board 控制面板 Run Chain Status 运行链状态 Connection terminals for the Run Chains 运行链的连接端子 Run Chains 运行链 Key Switch and Indicators 钥匙开关和指示器 Option:可选 Run Chain Status outside the cabinet 控制柜外侧运行链状态 Run Chains 运行链 Soft Stop 软停止 Selected by system parameter 通过系统参数选择，一般不要更改 Robot stops on path before Motors are turned off 电机关闭以前,机器人停在路径上 Alternatives 可选项 Soft Emergency Stop = Soft ES 软急停 Soft Auto Stop = Soft AS 软自动停止 Soft General Stop = Soft GS 软一般停止 Soft Superior Stop = Soft SS Identical to GS E.g. Can be used to 软优先停止=与一般停止相同 indicate from where 例如:可以用作指出停止在哪里发生 the stop originates. Run Chains 运行链 Mains Drive System M Limit Switch 2 Superior Stop 2 General Stop 2 Emergency Stop 2 FP Enable 2 Auto Stop 2 Key Switch Limit Switch 1 Superior Stop 1 General Stop 1 Emergency Stop 1 FP Enable 1 Auto Stop 1 Key Switch K43 24 V 0 V 24 V 0V K42 Control Module DriveModule 驱动模块 Interlocking on contactor board EN RUN 1A 2B Run Chains 运行链 EN = Enable from Panel Board 控制面板使能 Contactor Board 接触器板 Run Chain 2 K43 运行链2 K43 Interlocking on contactor board 接触器板上互锁 EN RUN Run Chain 1 K42 运行链1 K42 1A 2B Controller Module 控制模块 RUN from Axis computer 从轴计算机上运行 Lock 1A fr