ABB机器人控制器概述课件.pptVIP

控制系统—继电器单元和外部接口单元 组成: ACRB控制板, AEXB板, ZB板 控制系统—继电器单元ACRB 用于控制系统中与各继电器有关的功能 The ACRB unit serves as a central point for various functions in the control system such as emergency stop chain and run chain with associated relays and also to streamline wiring to reduce cable branching etc. 控制系统—外部接口单元AEXB AEXB单元是一个多功能单元, 它包括以下功能: 对示教器上的使能装置 和急停功能的电缆监测. 吹扫接口和监测. 防爆I/O接口. 安全监测和控制. CAN终端. 串行测量信号的通道 The AEXB unit is a multiple function unit and includes following main functions. ? Cable monitoring for the enabling device and emergency stop functions located in the teach pendant unit. Fail safe control electronics for Exi safety signal for relay drive into the safety chain. ? Purge interface and monitoring. The purge control unit is for safety reasons implemented in two channels. Channel one is implemented in control electronics. Channel two is implemented in software located in the AEXB Single Chip Micro Controller. The AEXB Single Chip Micro Controller is monitored from the ACCB CPU and Micro Controller. ? Exi - I/O interface. Exi equipment is connected to zener barriers and routed to inputs to the AEXB Single Chip Micro Controller. ? Safety monitoring and control. All safety circuits are implemented in two channels hardware and monitored from software and control electronic. ? CAN termination. CAN communication to the manipulator is routed through the AEXB unit purge relays. ? Routing of serial measurement signals. The RS422 signal to the serial measurement system located in the manipulator is routed through the AEXB unit purge relays. The measurement system communication line is also galvanic isolated through opto couplers 控制系统—齐纳阻挡单元ZB 齐纳阻挡单元 齐纳阻挡单元I/O配线 齐纳阻挡单元是一个电路,它对输出电压和电流设置极限值.这意味着在危险区内,短路等情况下,短路火花将由齐纳阻挡单元限制,使其不能产生足够的能量使危险气体点火. 12VDC 18VDC Zener Barrier A zener barrier is a circuit which sets a limit for voltage and current of the output. This means that in a case of short circuit etc. in the hazardous area, the spark produced will be limited by the zener bar