FANUC solders analysis of application of robot control system and dug

Function stability, solder quality is stable, make sure its homogeneity solders if parameter solders electric current, voltage, solder speed and solder dry extend length to wait to have conclusive effect as a result to soldering. When soldering artificially, solder speed, dry stretchy etc is change, accomplish the homogeneity of quality very hard; Use a robot to solder, of every welding line solder parameter is constant, welding line quality gets factitious factor the influence is minor, reduced the demand that handles a technology to the worker, solder quality is very stable. 2.

After the labor condition that improved a worker uses a robot to solder, the worker needs to assemble and unassemble only workpiece, was far from solder arc, aerosol and splatter etc; When spot welding, the worker needs to carry cumbersome manual solder clamp no longer, from inside the physical labor of great strength disengagement comes out. 3.

Raise labor productivity robot but serial production of a day of 24h, as high speed, efficient solder technical application, use robot solders, efficiency enhances the land more apparent. 4.

Product cycle is specific, the manufacturing metre that controls product output robot easily is fixed, because this plans production,plan very clear. 5.

Can shorten the cycle of product remodel replacement, reduce what corresponding installation cost can realize small lot product to solder automation. The biggest distinction of robot and private plane is it can pass modification program to differ in order to suit the production of workpiece. One, robot of FANUC of overview of FANUC control system basically applies in strange luck company to multiply with the car one factory is mixed by with the car the solder of 3 factories holds a workshop, it is strange luck introduce the earliest solder robot, also be strange luck company most use those who have add axis to solder first robot. Its control a system to use 32 CPU control, in order to raise the operation rate of operation of robot motion interpolation and coordinate commutation. Use driving unit of servo of 64 digit word, synchro control 6 axes move, athletic precision rises greatly, most controallable to 21 axes, improved robot trends character further. Support leaves technology of line process designing, technical personnel can set parameter through leaving software of line process designing, optimize robot exercise program. Controller interior structure is relatively compositive change, this kind of compositive means has a structure simple, overall the characteristic such as low-cost, easy care and maintenance. Control principle pursues 2, the core part that controller of analysis of structure of interior of FANUC control system is a robot, the function such as monitoring of communication of the behavioral operation that realizes pair of robots, signal, condition. Below with FANUC, F-200iB is exemple, the function that controls systematic interior structure and each share to its undertakes an analysis: Transformer of unit of power source supply inputs 230V alternating current to unit of power source allocation, allocate a function to work each to controlling box interior through this unit system power source alternating current of 210V of board card output and ± 15V, + 24V dc. Safe protection loop by transformer direct to stop unit power supply urgently, receive interior card forms each control plate protective loop, undertake to whole system circuit is protected. Servo amplifier supplies servo electric machinery not only drive and the power source that hold brake in the arms, and realize changeover of real time data with absolute value coder, with advocate accuse fiber-optic transmission data is used between machine, undertake real time signal feedbacks circularly. Nextpage is inputted / output module mark deserves to be ModuleA/B, also can expand through be in groove installs Profibus additionally board, process control plate and PLC and peripheral equipment have news report. Advocate the centre share that controls system of unit and whole control, include advocate board, component of CPU, FROM/SRAM and servo card, the signal of responsible controller interior and peripheral equipment is handled and exchange. Stop circuit board urgently to be used right urgent the electromagnetism contactor that stops amplifier of system, servo and provision charge undertake controlling. Show religion implement include robot process designing inside all operations can be finished by this equipment, controller condition and data show in show the monitor that teachs a box to go up. 3, controller of robot of breakdown case analysis cuts off the power after the overhaul, to controller power transmission, the robot signs up for servo breakdown, breakdown code is SERVO-062. Undertake restoration to this breakdown: Press F1 of MENUS → SYSTEM → , [TYPE] → looks for Master/cal → F3, f4 of RES_PCA → , after YES, the robot still signs up for servo breakdown. 1, breakdown analysis and examination: The explanation of breakdown code SERVO-062 is SERVO2 BZAL Alarm(Group:%D Axis:%D) , hitch is possible case study is as follows: The batteries that the data on 1) robot coder stores perhaps has damaged without report: Disassemble the batteries mounting box that coder pulse data stores, contain inside batteries box 4 common 1.

A dry cell of 5V, undertake metrical to the voltage of every batteries, all be in 1.

4V is the following, batteries voltage is apparent on the low side, change then new battery, undertake restoration to breakdown again, the robot still signs up for SERVO-062 breakdown. Control plate of amplifier of the servo inside 2) controller is bad: LED of examination servo amplifier " D7 " the voltage of 2 DC link of upper part detects screw, acknowledge DC link tension. The 50V of prep above of DC link voltage that if detect,arrives, can judge servo amplifier control plate to be in unusual position. Detect actually discover DC link voltage under 50V, so control plate of amplifier of preliminary judgement servo is in whack. Go up to servo amplifier control plate further P5V, P3.

The LED color of 3V, SVEMG, OPEN has observation, affirm output of power source voltage is normal, without input of exterior and urgent break alarm, with the robot advocate board news report is regular also, eliminate damage of servo amplifier control plate. 3) circuitry damages: Noumenal to robot controller and robot exterior cable undertakes even line RM1, RP1 checking, RM1 is the power source of robot servo electric machinery, control line that hold brake in the arms, RP1 is signal of coder of robot servo electric machinery and control power supply cord the circuitry such as the cell line that the data on circuitry of road, end-effector, coder stores. Unplug plug RP1, to terminal 5, 6, 18 measure with avometer + 5V, + 24V controls power supply all normal. The cell line that stores to the data on coder next undertakes checking. The control of coder of pulse of servo electric machinery of every axis carries the robot by 1-10 terminal composition, terminal 8, 9, 10 for + 5V power source, terminal 4, 7 amount to are occupied maintain batteries power supply, terminal 5, 6 for feedback signal, terminal 3 for ground connection, terminal 1, 2 sky. Unplug the pulse of M1 electric machinery controls plug M1P, avometer measures terminal 4, 7, voltage is 0, electric machinery of same methodological examination M2~M7 is entirely 0, the cell line that can judge the data on coder to store from this damages. Down circuit, discover the outlet of one aspect of the matter that losing power source double skeining thread is buried for a long time in seeper, circuit already was corroded serious. 2, breakdown processing: Change the restoration after circuit, undertake complete axis to the robot at 0 o'clock revert " ZERO POSITION MASTER " , guide return to normal after backup program, trouble removal. 4, the characteristic solder that the robot applies in solder outfit product line in receiving a robot to receive production in the solder of Gao Zhigao effect, produced all in all effect, its are main characteristic: 1, function is stabilized and solder quality is stable, assure its homogeneity. Solder if parameter solders electric current, voltage, solder speed and solder dry extend length to wait to have decision effect as a result to soldering. When using a robot to solder to every welding line solder parameter is constant, the element effect that welding line quality gets a person is lesser, reduced the demand that handles a technology to the worker, because this solders,quality is stable. And when soldering artificially, solder speed, dry stretchy etc is change, because this accomplishs the homogeneity of quality very hard. 2, the labor condition that improved a worker. Use the person just uses robot welder to assemble and unassemble workpiece, was far from solder arc, aerosol and splatter etc, to spot welding the worker carries cumbersome manual solder clamp no longer, make the worker comes out from the disengagement in the physical labor of great strength. 3, improve labor productivity. The robot does not have exhaustion, one day but 24 hours of serial production, additional as high speed efficient solder technical application, use robot solders, what efficiency rises is more apparent. 4, product cycle is specific, control product output easily. The manufacturing metre of the robot is fixed, because this plans production,plan very clear. 5, can shorten the cycle of product remodel replacement, reduce corresponding installation cost. Can realize small lot product solder automation. The biggest distinction of robot and private plane is he can pass modification program to differ in order to suit the production of workpiece. Conclusion fastens one of main brands of the robot as day, its go up in control principle roughly as identical as other brand robot, but the style that its control a part to comprise a structure to having his, reflect Asian use habit, suit home to use quite. Our country solders although the research application of robot technology is later, but draw lessons from the mature technology at abroad, got rapid development. Of 9 years of my companies and joint development of Harbin Institute of Technology strange haing robot is born, saw enterprise and the strength that scientific research cooperates it seems that, when becoming aware proper enterprise is entered, especially when this kind of application enterprise begins to participate the research of equipment, the door was opened slowly. But solder the hi-tech product that the robot is an Electromechanical unifinication, the oneself ability that sheet relies on an enterprise is insufficient, need government produces enterprise and the company that use homebred robot system to give proper policy and capital support to the robot, accelerate the development of our country homebred robot. CNC Milling